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<div class="title">motion.h</div>  </div>
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<a href="motion_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">    This file is part of Repetier-Firmware.</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">    Repetier-Firmware is free software: you can redistribute it and/or modify</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">    it under the terms of the GNU General Public License as published by</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">    the Free Software Foundation, either version 3 of the License, or</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">    (at your option) any later version.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">    Repetier-Firmware is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">    but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">    GNU General Public License for more details.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">    You should have received a copy of the GNU General Public License</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">    along with Repetier-Firmware.  If not, see &lt;http://www.gnu.org/licenses/&gt;.</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">    This firmware is a nearly complete rewrite of the sprinter firmware</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">    by kliment (https://github.com/kliment/Sprinter)</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">    which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">#</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">  Functions in this file are used to communicate using ascii or repetier protocol.</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#ifndef MOTION_H_INCLUDED</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#define MOTION_H_INCLUDED</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="motion_8h.html#a6a2aad6af3e26a70043bb667d9fe6722">   28</a></span>&#160;<span class="preprocessor">#define FLAG_WARMUP 1</span></div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="motion_8h.html#a6d532b3a91829ce965b11bee7ce4a121">   29</a></span>&#160;<span class="preprocessor">#define FLAG_NOMINAL 2</span></div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="motion_8h.html#ae80288e7929d2dd9a7a4aedcbbb53dbc">   30</a></span>&#160;<span class="preprocessor">#define FLAG_DECELERATING 4</span></div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="motion_8h.html#a2c78abde6b572b9cce3ba10bd79b5c7b">   31</a></span>&#160;<span class="preprocessor">#define FLAG_ACCELERATION_ENABLED 8 // unused</span></div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="motion_8h.html#a4928545b38f0d9f7c1cef343171db6b6">   32</a></span>&#160;<span class="preprocessor">#define FLAG_CHECK_ENDSTOPS 16</span></div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="motion_8h.html#a91042aaf3cefe55cabf89a9fc450c834">   33</a></span>&#160;<span class="preprocessor">#define FLAG_ALL_E_MOTORS 32 // For mixed extruder move all motors instead of selected motor</span></div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="motion_8h.html#afc633f974340414dfcc3da9489f8a9c3">   34</a></span>&#160;<span class="preprocessor">#define FLAG_SKIP_DEACCELERATING 64 // unused</span></div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="motion_8h.html#aafd724d9cac420e263072927b00d9a45">   35</a></span>&#160;<span class="preprocessor">#define FLAG_BLOCKED 128</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="motion_8h.html#a5f7d3ac3ef6f32915b3893dd59c3ca9b">   38</a></span>&#160;<span class="preprocessor">#define FLAG_JOIN_STEPPARAMS_COMPUTED 1</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="motion_8h.html#a59de958cd229719951c39ec47980612a">   40</a></span>&#160;<span class="preprocessor">#define FLAG_JOIN_END_FIXED 2</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="motion_8h.html#afd2aa0f699051519425a93e6d2b3ea86">   42</a></span>&#160;<span class="preprocessor">#define FLAG_JOIN_START_FIXED 4</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="motion_8h.html#ae3200ea7e0c130f7954f879bf2134652">   44</a></span>&#160;<span class="preprocessor">#define FLAG_JOIN_START_RETRACT 8</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="motion_8h.html#a6bce9130720024781aa7d8b24b08d1fc">   46</a></span>&#160;<span class="preprocessor">#define FLAG_JOIN_END_RETRACT 16</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="motion_8h.html#a6c722c1ac9bb7f554885dc6d746d1283">   48</a></span>&#160;<span class="preprocessor">#define FLAG_JOIN_NO_RETRACT 32</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="motion_8h.html#a20fd0b9b6301f01d0127ab40b93ca860">   50</a></span>&#160;<span class="preprocessor">#define FLAG_JOIN_WAIT_EXTRUDER_UP 64</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="motion_8h.html#ac8e3ee431a59c64705f133d526eb435b">   52</a></span>&#160;<span class="preprocessor">#define FLAG_JOIN_WAIT_EXTRUDER_DOWN 128</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="comment">// Printing related data</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#if NONLINEAR_SYSTEM || defined(DOXYGEN)</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">// Allow the delta cache to store segments for every line in line cache. Beware this gets big ... fast.</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">class </span><a class="code" href="class_print_line.html">PrintLine</a>;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html">   58</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span>{</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#aae5aa2690c053c7a92ff45731f111ddf">   59</a></span>&#160;    <a class="code" href="_h_a_l_8h.html#a21799deb67a18c9ab43cbcc0b0131c27">flag8_t</a> <a class="code" href="struct_nonlinear_segment.html#aae5aa2690c053c7a92ff45731f111ddf">dir</a>;                                    </div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a2a9de1baf63016cf97bf8cf40fd6a176">   60</a></span>&#160;    uint16_t deltaSteps[<a class="code" href="_repetier_8h.html#a1af2907a6b7f6543b7d4c369e8901467">TOWER_ARRAY</a>];                       </div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#ac3583fbf7456a4dd5aada813e7e19478">checkEndstops</a>(<a class="code" href="class_print_line.html">PrintLine</a> *<a class="code" href="class_print_line.html#a9604010088b3652adbf7cd3d016fd4f5">cur</a>, <span class="keywordtype">bool</span> checkall);</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a8b8c0ec71b82427ae3244a5a86a7f98d">   62</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="struct_nonlinear_segment.html#a8b8c0ec71b82427ae3244a5a86a7f98d">setXMoveFinished</a>() {</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        dir &amp;= ~<a class="code" href="_repetier_8h.html#a6033d564371859ed81b243b94309a373">XSTEP</a>;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    }</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a826b5b1b25f72951404321cbaddaa785">   65</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="struct_nonlinear_segment.html#a826b5b1b25f72951404321cbaddaa785">setYMoveFinished</a>() {</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        dir &amp;= ~<a class="code" href="_repetier_8h.html#ab810941c940603c826ff25dce2719025">YSTEP</a>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    }</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a22d68f0ae2c73cdd6c744d1385ebb3e1">   68</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="struct_nonlinear_segment.html#a22d68f0ae2c73cdd6c744d1385ebb3e1">setZMoveFinished</a>() {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        dir &amp;= ~<a class="code" href="_repetier_8h.html#a1babd87068d59b3ec0ae7836e6a26787">ZSTEP</a>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    }</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a9da7eb7a2de6d77ca6330d25fdd77169">   71</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="struct_nonlinear_segment.html#a9da7eb7a2de6d77ca6330d25fdd77169">setXYMoveFinished</a>() {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        dir &amp;= ~<a class="code" href="_repetier_8h.html#a25aebe0b6f18b7c58a0a41889bc3afae">XY_STEP</a>;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    }</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#ab4fa972593655407aa78314b9492210a">   74</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#ab4fa972593655407aa78314b9492210a">isXPositiveMove</a>() {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#aa4accabb4b3df874bdeeb21c95e3742a">X_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#aa4accabb4b3df874bdeeb21c95e3742a">X_STEP_DIRPOS</a>;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    }</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a6300222e3d80b2919d2bc26f7bb25b27">   77</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#a6300222e3d80b2919d2bc26f7bb25b27">isXNegativeMove</a>() {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#aa4accabb4b3df874bdeeb21c95e3742a">X_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a6033d564371859ed81b243b94309a373">XSTEP</a>;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    }</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a11280447f426229f25d3e21122a4c5d5">   80</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#a11280447f426229f25d3e21122a4c5d5">isYPositiveMove</a>() {</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a9ba8fac639c065a887654ba6fc789177">Y_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a9ba8fac639c065a887654ba6fc789177">Y_STEP_DIRPOS</a>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    }</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#ab7f80ea83c749c5afd6d24d077b66acb">   83</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#ab7f80ea83c749c5afd6d24d077b66acb">isYNegativeMove</a>() {</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a9ba8fac639c065a887654ba6fc789177">Y_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#ab810941c940603c826ff25dce2719025">YSTEP</a>;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    }</div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a3bebe31afdd546538d9115bdd77f9008">   86</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#a3bebe31afdd546538d9115bdd77f9008">isZPositiveMove</a>() {</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a138a918c19ac5fa582e0c2432d7adbb1">Z_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a138a918c19ac5fa582e0c2432d7adbb1">Z_STEP_DIRPOS</a>;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    }</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a1880d95042fe1da0951e44b6e1dc3f8f">   89</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#a1880d95042fe1da0951e44b6e1dc3f8f">isZNegativeMove</a>() {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a138a918c19ac5fa582e0c2432d7adbb1">Z_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a1babd87068d59b3ec0ae7836e6a26787">ZSTEP</a>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    }</div><div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#af60f7e5ca596c42d5923362508c19997">   92</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#af60f7e5ca596c42d5923362508c19997">isEPositiveMove</a>() {</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a34fa5706d1eef1e7a86feb2f51373062">E_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a34fa5706d1eef1e7a86feb2f51373062">E_STEP_DIRPOS</a>;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    }</div><div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a7857f31de5f34f22fb3c27ee6754235e">   95</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#a7857f31de5f34f22fb3c27ee6754235e">isENegativeMove</a>() {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a34fa5706d1eef1e7a86feb2f51373062">E_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a988d5a21821a2084b4041195c84a2d58">ESTEP</a>;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    }</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#aeb974809ea9b69181a7a5f17776e63a1">   98</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#aeb974809ea9b69181a7a5f17776e63a1">isXMove</a>() {</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a6033d564371859ed81b243b94309a373">XSTEP</a>);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    }</div><div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#aaca5ec9eacc1efdc39103c937cc90cc2">  101</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#aaca5ec9eacc1efdc39103c937cc90cc2">isYMove</a>() {</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#ab810941c940603c826ff25dce2719025">YSTEP</a>);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    }</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a1fe34da69e5b569da09e7f6a7284884a">  104</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#a1fe34da69e5b569da09e7f6a7284884a">isXOrYMove</a>() {</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordflow">return</span> dir &amp; <a class="code" href="_repetier_8h.html#a25aebe0b6f18b7c58a0a41889bc3afae">XY_STEP</a>;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    }</div><div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a1cf10edd117a93123de0d4dba6a93d46">  107</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#a1cf10edd117a93123de0d4dba6a93d46">isZMove</a>() {</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a1babd87068d59b3ec0ae7836e6a26787">ZSTEP</a>);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    }</div><div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a867b6a0b807b667b3b80be8f65347586">  110</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#a867b6a0b807b667b3b80be8f65347586">isEMove</a>() {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a988d5a21821a2084b4041195c84a2d58">ESTEP</a>);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    }</div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a945f71e2a9749a03a0e842161c004e13">  113</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#a945f71e2a9749a03a0e842161c004e13">isEOnlyMove</a>() {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#aa990a5d13211af20034f6d36d48b63b2">XYZE_STEP</a>) == <a class="code" href="_repetier_8h.html#a988d5a21821a2084b4041195c84a2d58">ESTEP</a>;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    }</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#ab9d1c3e9fc8500f6096691a21ea4f488">  116</a></span>&#160; 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<a class="code" href="_repetier_8h.html#a1f9f73c5ba9f5151d3fa3f79605357e3">XYZ_STEP</a>;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    }</div><div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#aef6a5c627254f067cd7e3824c5d3fac1">  122</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="struct_nonlinear_segment.html#aef6a5c627254f067cd7e3824c5d3fac1">isMoveOfAxis</a>(uint8_t axis) {</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="keywordflow">return</span> (dir &amp; (<a class="code" href="_repetier_8h.html#a6033d564371859ed81b243b94309a373">XSTEP</a> &lt;&lt; axis));</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    }</div><div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#acd5c97f3a36505476098f2a1f865469a">  125</a></span>&#160; 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axis;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    }</div><div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="struct_nonlinear_segment.html#a6128a2f5a28fe3d72e916536dbe75af1">  131</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="struct_nonlinear_segment.html#a6128a2f5a28fe3d72e916536dbe75af1">setPositiveDirectionForAxis</a>(uint8_t axis) {</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        dir |= <a class="code" href="_repetier_8h.html#a0ff17c6043905745b79bf1d24c2e184d">X_DIRPOS</a> &lt;&lt; axis;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    }</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;} <a class="code" href="struct_nonlinear_segment.html">NonlinearSegment</a>;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="keyword">extern</span> uint8_t <a class="code" href="motion_8h.html#a214efd6b4f0d3ad28de96d5c9b5ace87">lastMoveID</a>;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="keyword">class </span><a class="code" href="class_u_i_display.html">UIDisplay</a>;</div><div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="class_print_line.html">  138</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_print_line.html">PrintLine</a> { <span class="comment">// RAM usage: 24*4+15 = 113 Byte</span></div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="class_print_line.html#a9100ab40407fd382a882168b2001f3a3">  139</a></span>&#160; 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   <span class="keywordtype">float</span> <a class="code" href="class_print_line.html#a3831d2f78b2bc00f9ac7b91f4f96ffb2">distance</a>;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="preprocessor">#if NONLINEAR_SYSTEM || defined(DOXYGEN)</span></div><div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="class_print_line.html#a803ce92dea3c851f08d5e3dcabd65f6f">  169</a></span>&#160;    uint8_t <a class="code" href="class_print_line.html#a803ce92dea3c851f08d5e3dcabd65f6f">numNonlinearSegments</a>;       </div><div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="class_print_line.html#a18cdc66bbae3734df955ff75385d21d7">  170</a></span>&#160;    uint8_t <a class="code" href="class_print_line.html#a18cdc66bbae3734df955ff75385d21d7">moveID</a>;                 </div><div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="class_print_line.html#a348b31e42ddd4e114ea9e65d3e68d491">  171</a></span>&#160;    int32_t <a class="code" href="class_print_line.html#a348b31e42ddd4e114ea9e65d3e68d491">numPrimaryStepPerSegment</a>;   </div><div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="class_print_line.html#a4f94e8fd43b7f6cab41d2e7a916f2976">  172</a></span>&#160;    <a class="code" href="struct_nonlinear_segment.html">NonlinearSegment</a> <a class="code" href="class_print_line.html#a4f94e8fd43b7f6cab41d2e7a916f2976">segments</a>[<a class="code" href="_configuration_8h.html#a8979aa57ea96820a5702cc920ad7d836">DELTASEGMENTS_PER_PRINTLINE</a>];</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="class_print_line.html#aa349232d40a70fef936ebbb830ce8b0d">  174</a></span>&#160;    <a class="code" href="_h_a_l_8h.html#a19b13c479504642297e7ebbf5da5677b">ticks_t</a> <a class="code" href="class_print_line.html#aa349232d40a70fef936ebbb830ce8b0d">fullInterval</a>;     </div><div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="class_print_line.html#a8d5a9977fdb761ce5a6ec923249d3bef">  175</a></span>&#160;    uint32_t <a class="code" href="class_print_line.html#a8d5a9977fdb761ce5a6ec923249d3bef">accelSteps</a>;        </div><div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="class_print_line.html#a848aeb0ffea207d5f89ca220e7f9070e">  176</a></span>&#160;    uint32_t <a class="code" href="class_print_line.html#a848aeb0ffea207d5f89ca220e7f9070e">decelSteps</a>;        </div><div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="class_print_line.html#a61b18d3f2a42ada375fe303a73715941">  177</a></span>&#160;    uint32_t <a class="code" href="class_print_line.html#a61b18d3f2a42ada375fe303a73715941">accelerationPrim</a>; </div><div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="class_print_line.html#a474bac3cb9cd4f218269dd5dcb794bc6">  178</a></span>&#160;    uint32_t <a class="code" href="class_print_line.html#a474bac3cb9cd4f218269dd5dcb794bc6">fAcceleration</a>;    </div><div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="class_print_line.html#aae4afc0c5e4153f4fcd9f2c3cfb969f6">  179</a></span>&#160;    <a class="code" href="_h_a_l_8h.html#a80a0874aa42d7783b26fce1ea16f6658">speed_t</a> <a class="code" href="class_print_line.html#aae4afc0c5e4153f4fcd9f2c3cfb969f6">vMax</a>;              </div><div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="class_print_line.html#ae20d6852ad5c6fa2e6dc673d238e62fe">  180</a></span>&#160;    <a class="code" href="_h_a_l_8h.html#a80a0874aa42d7783b26fce1ea16f6658">speed_t</a> <a class="code" href="class_print_line.html#ae20d6852ad5c6fa2e6dc673d238e62fe">vStart</a>;            </div><div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="class_print_line.html#a8ebec2ac67b4a3b9c48c4a7fde8a2b99">  181</a></span>&#160;    <a class="code" href="_h_a_l_8h.html#a80a0874aa42d7783b26fce1ea16f6658">speed_t</a> <a class="code" href="class_print_line.html#a8ebec2ac67b4a3b9c48c4a7fde8a2b99">vEnd</a>;              </div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="preprocessor">#if USE_ADVANCE</span></div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="preprocessor">#if ENABLE_QUADRATIC_ADVANCE</span></div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    int32_t advanceRate;               </div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    int32_t advanceFull;               </div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    int32_t advanceStart;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    int32_t advanceEnd;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    uint16_t advanceL;         </div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="preprocessor">#ifdef DEBUG_STEPCOUNT</span></div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    int32_t totalStepsRemaining;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="class_print_line.html#a9e7abd979b7adf282dea4cd2bfe98b58">  195</a></span>&#160;    int32_t <a class="code" href="class_print_line.html#a9e7abd979b7adf282dea4cd2bfe98b58">stepsRemaining</a>;            </div><div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="class_print_line.html#a9604010088b3652adbf7cd3d016fd4f5">  196</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="class_print_line.html">PrintLine</a> *<a class="code" href="class_print_line.html#a9604010088b3652adbf7cd3d016fd4f5">cur</a>;</div><div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="class_print_line.html#a9bbe762bcdb08124847f2ca70b307dce">  197</a></span>&#160; 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       <span class="keywordflow">return</span> flags &amp; <a class="code" href="motion_8h.html#a6a2aad6af3e26a70043bb667d9fe6722">FLAG_WARMUP</a>;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    }</div><div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="class_print_line.html#a6ceaa984944748ea7b5d23bb0514df7a">  225</a></span>&#160;    <span class="keyword">inline</span> uint8_t <a class="code" href="class_print_line.html#a6ceaa984944748ea7b5d23bb0514df7a">getWaitForXLinesFilled</a>() {</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="class_print_line.html#a1ebcada86acf0660795a883ffc527645">primaryAxis</a>;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    }</div><div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="class_print_line.html#acd23da39514b34ad309c1127d96949e7">  228</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#acd23da39514b34ad309c1127d96949e7">setWaitForXLinesFilled</a>(uint8_t b) {</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        primaryAxis = b;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    }</div><div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="class_print_line.html#a92623288a079ad3f39a90b5ab7e8dfcc">  231</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a92623288a079ad3f39a90b5ab7e8dfcc">isExtruderForwardMove</a>() {</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a34fa5706d1eef1e7a86feb2f51373062">E_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a34fa5706d1eef1e7a86feb2f51373062">E_STEP_DIRPOS</a>;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    }</div><div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="class_print_line.html#a0059685dda66276eb8c115b61ffaec1e">  234</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a0059685dda66276eb8c115b61ffaec1e">block</a>() {</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        flags |= <a class="code" href="motion_8h.html#aafd724d9cac420e263072927b00d9a45">FLAG_BLOCKED</a>;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    }</div><div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="class_print_line.html#a7de6b6a7f22a7fa5347cae1b9cb90d1a">  237</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a7de6b6a7f22a7fa5347cae1b9cb90d1a">unblock</a>() {</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        flags &amp;= ~<a class="code" href="motion_8h.html#aafd724d9cac420e263072927b00d9a45">FLAG_BLOCKED</a>;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    }</div><div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="class_print_line.html#a6c0d3ef96eb067fa9fbbd4f0ffd61df6">  240</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a6c0d3ef96eb067fa9fbbd4f0ffd61df6">isBlocked</a>() {</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="keywordflow">return</span> flags &amp; <a class="code" href="motion_8h.html#aafd724d9cac420e263072927b00d9a45">FLAG_BLOCKED</a>;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    }</div><div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="class_print_line.html#a735d73a517d0049706af95103c45a353">  243</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a735d73a517d0049706af95103c45a353">isAllEMotors</a>() {</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keywordflow">return</span> flags &amp; <a class="code" href="motion_8h.html#a91042aaf3cefe55cabf89a9fc450c834">FLAG_ALL_E_MOTORS</a>;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    }</div><div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="class_print_line.html#a345f36290e1e30d7ed8033e08e79aeb8">  246</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a345f36290e1e30d7ed8033e08e79aeb8">isCheckEndstops</a>() {</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        <span class="keywordflow">return</span> flags &amp; <a class="code" href="motion_8h.html#a4928545b38f0d9f7c1cef343171db6b6">FLAG_CHECK_ENDSTOPS</a>;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    }</div><div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="class_print_line.html#adfd329c82179681a5bc28a8d555a5728">  249</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#adfd329c82179681a5bc28a8d555a5728">isNominalMove</a>() {</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="keywordflow">return</span> flags &amp; <a class="code" href="motion_8h.html#a6d532b3a91829ce965b11bee7ce4a121">FLAG_NOMINAL</a>;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    }</div><div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="class_print_line.html#a2fbae3aac558bc851543cb150b434005">  252</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a2fbae3aac558bc851543cb150b434005">setNominalMove</a>() {</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        flags |= <a class="code" href="motion_8h.html#a6d532b3a91829ce965b11bee7ce4a121">FLAG_NOMINAL</a>;</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    }</div><div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="class_print_line.html#ac3583fbf7456a4dd5aada813e7e19478">  255</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#ac3583fbf7456a4dd5aada813e7e19478">checkEndstops</a>() {</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a345f36290e1e30d7ed8033e08e79aeb8">isCheckEndstops</a>()) {</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;            <a class="code" href="class_endstops.html#a830ddb96fe3365c3e7b918137bff94f5">Endstops::update</a>();</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;            <span class="keywordflow">if</span>(<a class="code" href="class_endstops.html#a104a96fa40a95bf71a712608b15d3bf8">Endstops::anyEndstopHit</a>()) {</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;                <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a86a7480485172bfddb476104534d2fed">isXNegativeMove</a>() &amp;&amp; <a class="code" href="class_endstops.html#a4f32e9df9550e568cb8d7daa9aa1a897">Endstops::xMin</a>())</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;                    <a class="code" href="class_print_line.html#ab8dd5207aed1b57d7bbff1c52a23025a">setXMoveFinished</a>();</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#ad818d54d3521f3d60ce60a5e0cb64b58">isXPositiveMove</a>() &amp;&amp; <a class="code" href="class_endstops.html#aec00bada95448031050099a2ab26069a">Endstops::xMax</a>())</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                    <a class="code" href="class_print_line.html#ab8dd5207aed1b57d7bbff1c52a23025a">setXMoveFinished</a>();</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#ad4ab640e8caec9b7325e9b3f198c5314">isYNegativeMove</a>() &amp;&amp; <a class="code" href="class_endstops.html#a270f80d0f076b4dfa159061014b144d0">Endstops::yMin</a>())</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                    <a class="code" href="class_print_line.html#a8079dae47c2fee7c8412593601fab469">setYMoveFinished</a>();</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a7b44479b0bdf689046d37b7ca6e66a85">isYPositiveMove</a>() &amp;&amp; <a class="code" href="class_endstops.html#a8a7feb2b2bef33c19c4877508f2be5e9">Endstops::yMax</a>())</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;                    <a class="code" href="class_print_line.html#a8079dae47c2fee7c8412593601fab469">setYMoveFinished</a>();</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;<span class="preprocessor">#if FEATURE_Z_PROBE</span></div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                <span class="keywordflow">if</span>(<a class="code" href="class_printer.html#ac90531d9b39f45e2e4a27c7b5e6ebdae">Printer::isZProbingActive</a>() &amp;&amp; <a class="code" href="class_print_line.html#a203cb526747855f8729a5730cc536abf">isZNegativeMove</a>() &amp;&amp; <a class="code" href="class_endstops.html#ab2b97757e523410988bd567f84a50403">Endstops::zProbe</a>()) {</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                    <a class="code" href="class_print_line.html#a48ca90d76169db0137222d4f7d2f9855">setZMoveFinished</a>();</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                    <a class="code" href="class_printer.html#af1d438cbad82118ce95d1cf64b860009">Printer::stepsRemainingAtZHit</a> = <a class="code" href="class_print_line.html#a9e7abd979b7adf282dea4cd2bfe98b58">stepsRemaining</a>;</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                } <span class="keywordflow">else</span></div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="preprocessor">#if MULTI_ZENDSTOP_HOMING</span></div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;                {</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;                    <span class="keywordflow">if</span>(<a class="code" href="class_printer.html#a953b431d55106c5a72db1d3f502f8236">Printer::isHoming</a>()) {</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;                        <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a203cb526747855f8729a5730cc536abf">isZNegativeMove</a>()) {</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;                            <span class="keywordflow">if</span>(<a class="code" href="class_endstops.html#a1c37e86f9337d576524481b6aba0892d">Endstops::zMin</a>())</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                                <a class="code" href="class_printer.html#a88a82c8a8ff1234c3f9bb4dc9995d790">Printer::multiZHomeFlags</a> &amp;= ~1;</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;                            <span class="keywordflow">if</span>(<a class="code" href="class_endstops.html#adfaeecd453ba45101bb21eb92bb061cd">Endstops::z2MinMax</a>())</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;                                <a class="code" href="class_printer.html#a88a82c8a8ff1234c3f9bb4dc9995d790">Printer::multiZHomeFlags</a> &amp;= ~2;</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;                            <span class="keywordflow">if</span>(<a class="code" href="class_printer.html#a88a82c8a8ff1234c3f9bb4dc9995d790">Printer::multiZHomeFlags</a> == 0)</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;                                <a class="code" href="class_print_line.html#a48ca90d76169db0137222d4f7d2f9855">setZMoveFinished</a>();</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;                        } <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a87473d1ea597619844667fe0c2e5212a">isZPositiveMove</a>()) {</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;                            <span class="keywordflow">if</span>(<a class="code" href="class_endstops.html#ac6e8eb1726d843b9206a3f72ef33d8f0">Endstops::zMax</a>())</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;                                <a class="code" href="class_printer.html#a88a82c8a8ff1234c3f9bb4dc9995d790">Printer::multiZHomeFlags</a> &amp;= ~1;</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;                            <span class="keywordflow">if</span>(<a class="code" href="class_endstops.html#adfaeecd453ba45101bb21eb92bb061cd">Endstops::z2MinMax</a>())</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;                                <a class="code" href="class_printer.html#a88a82c8a8ff1234c3f9bb4dc9995d790">Printer::multiZHomeFlags</a> &amp;= ~2;</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                            <span class="keywordflow">if</span>(<a class="code" href="class_printer.html#a88a82c8a8ff1234c3f9bb4dc9995d790">Printer::multiZHomeFlags</a> == 0) {</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;<span class="preprocessor">#if MAX_HARDWARE_ENDSTOP_Z</span></div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                                <a class="code" href="class_printer.html#af1d438cbad82118ce95d1cf64b860009">Printer::stepsRemainingAtZHit</a> = <a class="code" href="class_print_line.html#a9e7abd979b7adf282dea4cd2bfe98b58">stepsRemaining</a>;</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                                <a class="code" href="class_print_line.html#a48ca90d76169db0137222d4f7d2f9855">setZMoveFinished</a>();</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;                            }</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;                        }</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                        <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a203cb526747855f8729a5730cc536abf">isZNegativeMove</a>() &amp;&amp; <a class="code" href="class_endstops.html#a1c37e86f9337d576524481b6aba0892d">Endstops::zMin</a>()) {</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                            <a class="code" href="class_print_line.html#a48ca90d76169db0137222d4f7d2f9855">setZMoveFinished</a>();</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                        } <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a87473d1ea597619844667fe0c2e5212a">isZPositiveMove</a>() &amp;&amp; <a class="code" href="class_endstops.html#ac6e8eb1726d843b9206a3f72ef33d8f0">Endstops::zMax</a>()) {</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="preprocessor">#if MAX_HARDWARE_ENDSTOP_Z</span></div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;                            <a class="code" href="class_printer.html#af1d438cbad82118ce95d1cf64b860009">Printer::stepsRemainingAtZHit</a> = <a class="code" href="class_print_line.html#a9e7abd979b7adf282dea4cd2bfe98b58">stepsRemaining</a>;</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                            <a class="code" href="class_print_line.html#a48ca90d76169db0137222d4f7d2f9855">setZMoveFinished</a>();</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;                        }</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;                    }</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;                }</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                    <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a203cb526747855f8729a5730cc536abf">isZNegativeMove</a>() &amp;&amp; <a class="code" href="class_endstops.html#a1c37e86f9337d576524481b6aba0892d">Endstops::zMin</a>()) {</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;                        <a class="code" href="class_print_line.html#a48ca90d76169db0137222d4f7d2f9855">setZMoveFinished</a>();</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;                    } <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a87473d1ea597619844667fe0c2e5212a">isZPositiveMove</a>() &amp;&amp; <a class="code" href="class_endstops.html#ac6e8eb1726d843b9206a3f72ef33d8f0">Endstops::zMax</a>()) {</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="preprocessor">#if MAX_HARDWARE_ENDSTOP_Z</span></div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;                        <a class="code" href="class_printer.html#af1d438cbad82118ce95d1cf64b860009">Printer::stepsRemainingAtZHit</a> = <a class="code" href="class_print_line.html#a9e7abd979b7adf282dea4cd2bfe98b58">stepsRemaining</a>;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;                        <a class="code" href="class_print_line.html#a48ca90d76169db0137222d4f7d2f9855">setZMoveFinished</a>();</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;                    }</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;            }</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="preprocessor">#if FEATURE_Z_PROBE</span></div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="class_printer.html#ac90531d9b39f45e2e4a27c7b5e6ebdae">Printer::isZProbingActive</a>() &amp;&amp; <a class="code" href="class_print_line.html#a203cb526747855f8729a5730cc536abf">isZNegativeMove</a>()) {</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;                <a class="code" href="class_endstops.html#a830ddb96fe3365c3e7b918137bff94f5">Endstops::update</a>();</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;                <span class="keywordflow">if</span>(<a class="code" href="class_endstops.html#ab2b97757e523410988bd567f84a50403">Endstops::zProbe</a>()) {</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;                    <a class="code" href="class_print_line.html#a48ca90d76169db0137222d4f7d2f9855">setZMoveFinished</a>();</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;                    <a class="code" href="class_printer.html#af1d438cbad82118ce95d1cf64b860009">Printer::stepsRemainingAtZHit</a> = <a class="code" href="class_print_line.html#a9e7abd979b7adf282dea4cd2bfe98b58">stepsRemaining</a>;</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;                }</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;            }</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        }</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    }</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;</div><div class="line"><a name="l00329"></a><span class="lineno"><a class="line" href="class_print_line.html#ab8dd5207aed1b57d7bbff1c52a23025a">  329</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#ab8dd5207aed1b57d7bbff1c52a23025a">setXMoveFinished</a>() {</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="preprocessor">#if DRIVE_SYSTEM==XY_GANTRY || DRIVE_SYSTEM==YX_GANTRY</span></div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        dir &amp;= ~48;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="preprocessor">#elif DRIVE_SYSTEM==XZ_GANTRY || DRIVE_SYSTEM==ZX_GANTRY</span></div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        dir &amp;= ~80;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        dir &amp;= ~16;</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    }</div><div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="class_print_line.html#a8079dae47c2fee7c8412593601fab469">  338</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a8079dae47c2fee7c8412593601fab469">setYMoveFinished</a>() {</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="preprocessor">#if DRIVE_SYSTEM==XY_GANTRY || DRIVE_SYSTEM==YX_GANTRY</span></div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        dir &amp;= ~48;</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        dir &amp;= ~32;</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    }</div><div class="line"><a name="l00345"></a><span class="lineno"><a class="line" href="class_print_line.html#a48ca90d76169db0137222d4f7d2f9855">  345</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a48ca90d76169db0137222d4f7d2f9855">setZMoveFinished</a>() {</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="preprocessor">#if DRIVE_SYSTEM==XZ_GANTRY || DRIVE_SYSTEM==ZX_GANTRY</span></div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        dir &amp;= ~80;</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        dir &amp;= ~64;</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    }</div><div class="line"><a name="l00352"></a><span class="lineno"><a class="line" href="class_print_line.html#ab0a7eb7cb4a91f513e7fff160cff7755">  352</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#ab0a7eb7cb4a91f513e7fff160cff7755">setXYMoveFinished</a>() {</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        dir &amp;= ~48;</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    }</div><div class="line"><a name="l00355"></a><span class="lineno"><a class="line" href="class_print_line.html#ad818d54d3521f3d60ce60a5e0cb64b58">  355</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#ad818d54d3521f3d60ce60a5e0cb64b58">isXPositiveMove</a>() {</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#aa4accabb4b3df874bdeeb21c95e3742a">X_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#aa4accabb4b3df874bdeeb21c95e3742a">X_STEP_DIRPOS</a>;</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    }</div><div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="class_print_line.html#a86a7480485172bfddb476104534d2fed">  358</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a86a7480485172bfddb476104534d2fed">isXNegativeMove</a>() {</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#aa4accabb4b3df874bdeeb21c95e3742a">X_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a6033d564371859ed81b243b94309a373">XSTEP</a>;</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    }</div><div class="line"><a name="l00361"></a><span class="lineno"><a class="line" href="class_print_line.html#a7b44479b0bdf689046d37b7ca6e66a85">  361</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a7b44479b0bdf689046d37b7ca6e66a85">isYPositiveMove</a>() {</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a9ba8fac639c065a887654ba6fc789177">Y_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a9ba8fac639c065a887654ba6fc789177">Y_STEP_DIRPOS</a>;</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    }</div><div class="line"><a name="l00364"></a><span class="lineno"><a class="line" href="class_print_line.html#ad4ab640e8caec9b7325e9b3f198c5314">  364</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#ad4ab640e8caec9b7325e9b3f198c5314">isYNegativeMove</a>() {</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a9ba8fac639c065a887654ba6fc789177">Y_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#ab810941c940603c826ff25dce2719025">YSTEP</a>;</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    }</div><div class="line"><a name="l00367"></a><span class="lineno"><a class="line" href="class_print_line.html#a87473d1ea597619844667fe0c2e5212a">  367</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a87473d1ea597619844667fe0c2e5212a">isZPositiveMove</a>() {</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a138a918c19ac5fa582e0c2432d7adbb1">Z_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a138a918c19ac5fa582e0c2432d7adbb1">Z_STEP_DIRPOS</a>;</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    }</div><div class="line"><a name="l00370"></a><span class="lineno"><a class="line" href="class_print_line.html#a203cb526747855f8729a5730cc536abf">  370</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a203cb526747855f8729a5730cc536abf">isZNegativeMove</a>() {</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a138a918c19ac5fa582e0c2432d7adbb1">Z_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a1babd87068d59b3ec0ae7836e6a26787">ZSTEP</a>;</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    }</div><div class="line"><a name="l00373"></a><span class="lineno"><a class="line" href="class_print_line.html#a0a49200119b66a593c56e5abd56c393c">  373</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a0a49200119b66a593c56e5abd56c393c">isEPositiveMove</a>() {</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a34fa5706d1eef1e7a86feb2f51373062">E_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a34fa5706d1eef1e7a86feb2f51373062">E_STEP_DIRPOS</a>;</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    }</div><div class="line"><a name="l00376"></a><span class="lineno"><a class="line" href="class_print_line.html#a191c60adafbacbbe233f50fc1781a3ae">  376</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a191c60adafbacbbe233f50fc1781a3ae">isENegativeMove</a>() {</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a34fa5706d1eef1e7a86feb2f51373062">E_STEP_DIRPOS</a>) == <a class="code" href="_repetier_8h.html#a988d5a21821a2084b4041195c84a2d58">ESTEP</a>;</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    }</div><div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="class_print_line.html#a0cbe98e356a7d693d06339512465b8c5">  379</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a0cbe98e356a7d693d06339512465b8c5">isXMove</a>() {</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a6033d564371859ed81b243b94309a373">XSTEP</a>);</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    }</div><div class="line"><a name="l00382"></a><span class="lineno"><a class="line" href="class_print_line.html#af579de2f3da728e3afa8892282644f1e">  382</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#af579de2f3da728e3afa8892282644f1e">isYMove</a>() {</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#ab810941c940603c826ff25dce2719025">YSTEP</a>);</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    }</div><div class="line"><a name="l00385"></a><span class="lineno"><a class="line" href="class_print_line.html#a6e810d665824d4f3a98d6f53107657c8">  385</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a6e810d665824d4f3a98d6f53107657c8">isXOrYMove</a>() {</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        <span class="keywordflow">return</span> dir &amp; <a class="code" href="_repetier_8h.html#a25aebe0b6f18b7c58a0a41889bc3afae">XY_STEP</a>;</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    }</div><div class="line"><a name="l00388"></a><span class="lineno"><a class="line" href="class_print_line.html#a54d7a6d812c3f9d4f7e5979ceac52ad5">  388</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a54d7a6d812c3f9d4f7e5979ceac52ad5">isXOrZMove</a>() {</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        <span class="keywordflow">return</span> dir &amp; (<a class="code" href="_repetier_8h.html#a6033d564371859ed81b243b94309a373">XSTEP</a> | <a class="code" href="_repetier_8h.html#ab810941c940603c826ff25dce2719025">YSTEP</a>);</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    }</div><div class="line"><a name="l00391"></a><span class="lineno"><a class="line" href="class_print_line.html#aac01f7b211401fb1ab9849d55e8ce195">  391</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#aac01f7b211401fb1ab9849d55e8ce195">isZMove</a>() {</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a1babd87068d59b3ec0ae7836e6a26787">ZSTEP</a>);</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    }</div><div class="line"><a name="l00394"></a><span class="lineno"><a class="line" href="class_print_line.html#ad25be5b07c7006c7e7eb79521effca60">  394</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#ad25be5b07c7006c7e7eb79521effca60">isEMove</a>() {</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#a988d5a21821a2084b4041195c84a2d58">ESTEP</a>);</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    }</div><div class="line"><a name="l00397"></a><span class="lineno"><a class="line" href="class_print_line.html#a73d0255498645a9f94aa83d81079b3bc">  397</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a73d0255498645a9f94aa83d81079b3bc">isEOnlyMove</a>() {</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#aa990a5d13211af20034f6d36d48b63b2">XYZE_STEP</a>) == <a class="code" href="_repetier_8h.html#a988d5a21821a2084b4041195c84a2d58">ESTEP</a>;</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    }</div><div class="line"><a name="l00400"></a><span class="lineno"><a class="line" href="class_print_line.html#a1e1d4c706329f82f2ad1f6bf2e4bdb94">  400</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a1e1d4c706329f82f2ad1f6bf2e4bdb94">isNoMove</a>() {</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        <span class="keywordflow">return</span> (dir &amp; <a class="code" href="_repetier_8h.html#aa990a5d13211af20034f6d36d48b63b2">XYZE_STEP</a>) == 0;</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    }</div><div class="line"><a name="l00403"></a><span class="lineno"><a class="line" href="class_print_line.html#ac9bab6eb1f2bf3e715fdbbd49b8ff1d4">  403</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#ac9bab6eb1f2bf3e715fdbbd49b8ff1d4">isXYZMove</a>() {</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;        <span class="keywordflow">return</span> dir &amp; <a class="code" href="_repetier_8h.html#a1f9f73c5ba9f5151d3fa3f79605357e3">XYZ_STEP</a>;</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    }</div><div class="line"><a name="l00406"></a><span class="lineno"><a class="line" href="class_print_line.html#a27026402e96519c942752b04a542c6e6">  406</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a27026402e96519c942752b04a542c6e6">isMoveOfAxis</a>(uint8_t axis) {</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;        <span class="keywordflow">return</span> (dir &amp; (<a class="code" href="_repetier_8h.html#a6033d564371859ed81b243b94309a373">XSTEP</a> &lt;&lt; axis));</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    }</div><div class="line"><a name="l00409"></a><span class="lineno"><a class="line" href="class_print_line.html#a4ceb38e5af48fdd427fd65c3184c1969">  409</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a4ceb38e5af48fdd427fd65c3184c1969">setMoveOfAxis</a>(uint8_t axis) {</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        dir |= <a class="code" href="_repetier_8h.html#a6033d564371859ed81b243b94309a373">XSTEP</a> &lt;&lt; axis;</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    }</div><div class="line"><a name="l00412"></a><span class="lineno"><a class="line" href="class_print_line.html#a22006b361ca12bd7821a15e2bdd5ba76">  412</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a22006b361ca12bd7821a15e2bdd5ba76">setPositiveDirectionForAxis</a>(uint8_t axis) {</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;        dir |= <a class="code" href="_repetier_8h.html#a0ff17c6043905745b79bf1d24c2e184d">X_DIRPOS</a> &lt;&lt; axis;</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    }</div><div class="line"><a name="l00415"></a><span class="lineno"><a class="line" href="class_print_line.html#a705545ca18016f753841f2c05d1b1983">  415</a></span>&#160;    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a705545ca18016f753841f2c05d1b1983">resetPathPlanner</a>() {</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;        linesCount = 0;</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;        linesPos = <a class="code" href="class_print_line.html#a7e52e0bfba9909ab94d3b22407d08091">linesWritePos</a>;</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;        <a class="code" href="class_printer.html#aa7e49b42cc5f9e8f7f62b5fba6bfe1c9">Printer::setMenuMode</a>(<a class="code" href="_repetier_8h.html#a60a4db346f525182cdba845400b5ed8a">MENU_MODE_PRINTING</a>, <a class="code" href="class_printer.html#a8c15be9b2836cbe671d1e2e06d16e535">Printer::isPrinting</a>());</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    }</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    <span class="comment">// Only called from bresenham -&gt; inside interrupt handle</span></div><div class="line"><a name="l00421"></a><span class="lineno"><a class="line" href="class_print_line.html#a58b020d5a24c967b3318901cc3a0593e">  421</a></span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a58b020d5a24c967b3318901cc3a0593e">updateAdvanceSteps</a>(<a class="code" href="_h_a_l_8h.html#a80a0874aa42d7783b26fce1ea16f6658">speed_t</a> v, uint8_t max_loops, <span class="keywordtype">bool</span> accelerate) {</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;<span class="preprocessor">#if USE_ADVANCE</span></div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        <span class="keywordflow">if</span>(!<a class="code" href="class_printer.html#a071382cfedb3a2f2fc5801f8cdeacc93">Printer::isAdvanceActivated</a>()) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;<span class="preprocessor">#if ENABLE_QUADRATIC_ADVANCE</span></div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        <span class="keywordtype">long</span> advanceTarget = <a class="code" href="class_printer.html#a659c152052fc331945881d1105c6a4bb">Printer::advanceExecuted</a>;</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="keywordflow">if</span>(accelerate) {</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;            <span class="keywordflow">for</span>(uint8_t loop = 0; loop &lt; max_loops; loop++) advanceTarget += advanceRate;</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;            <span class="keywordflow">if</span>(advanceTarget &gt; advanceFull)</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;                advanceTarget = advanceFull;</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;            <span class="keywordflow">for</span>(uint8_t loop = 0; loop &lt; max_loops; loop++) advanceTarget -= advanceRate;</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;            <span class="keywordflow">if</span>(advanceTarget &lt; advanceEnd)</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;                advanceTarget = advanceEnd;</div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        }</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        <span class="keywordtype">long</span> h = <a class="code" href="class_h_a_l.html#ae504c54e23bc159155c56855cb256a36">HAL::mulu16xu16to32</a>(v, advanceL);</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <span class="keywordtype">int</span> tred = ((advanceTarget + h) &gt;&gt; 16);</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        <a class="code" href="class_h_a_l.html#a56d49442ce5f9d581523326bcd39dd6c">HAL::forbidInterrupts</a>();</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;        <a class="code" href="class_printer.html#adab8fcde855eab1f088c9b57208742bc">Printer::extruderStepsNeeded</a> += tred - <a class="code" href="class_printer.html#ae5308f8e87c0cacccf765d88269cee57">Printer::advanceStepsSet</a>;</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        <span class="keywordflow">if</span>(tred &gt; 0 &amp;&amp; Printer::advanceStepsSet &lt;= 0)</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;            <a class="code" href="class_printer.html#adab8fcde855eab1f088c9b57208742bc">Printer::extruderStepsNeeded</a> += <a class="code" href="class_extruder.html#af1d7d7b55c2f7a3dbd696d1fd874c5aa">Extruder::current</a>-&gt;advanceBacklash;</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span>(tred &lt; 0 &amp;&amp; Printer::advanceStepsSet &gt;= 0)</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;            <a class="code" href="class_printer.html#adab8fcde855eab1f088c9b57208742bc">Printer::extruderStepsNeeded</a> -= <a class="code" href="class_extruder.html#af1d7d7b55c2f7a3dbd696d1fd874c5aa">Extruder::current</a>-&gt;advanceBacklash;</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;        Printer::advanceStepsSet = tred;</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;        <a class="code" href="class_h_a_l.html#aad1e2ee3a56414df8328a9fc5cbfe6e4">HAL::allowInterrupts</a>();</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        <a class="code" href="class_printer.html#a659c152052fc331945881d1105c6a4bb">Printer::advanceExecuted</a> = advanceTarget;</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        <span class="keywordtype">int</span> tred = <a class="code" href="class_h_a_l.html#af802bafb9205906a50047a1094ce1150">HAL::mulu6xu16shift16</a>(v, advanceL);</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;        <a class="code" href="class_h_a_l.html#a56d49442ce5f9d581523326bcd39dd6c">HAL::forbidInterrupts</a>();</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;        <a class="code" href="class_printer.html#adab8fcde855eab1f088c9b57208742bc">Printer::extruderStepsNeeded</a> += tred - <a class="code" href="class_printer.html#ae5308f8e87c0cacccf765d88269cee57">Printer::advanceStepsSet</a>;</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;        <span class="keywordflow">if</span>(tred &gt; 0 &amp;&amp; Printer::advanceStepsSet &lt;= 0)</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;            <a class="code" href="class_printer.html#adab8fcde855eab1f088c9b57208742bc">Printer::extruderStepsNeeded</a> += (<a class="code" href="class_extruder.html#af1d7d7b55c2f7a3dbd696d1fd874c5aa">Extruder::current</a>-&gt;advanceBacklash &lt;&lt; 1);</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span>(tred &lt; 0 &amp;&amp; Printer::advanceStepsSet &gt;= 0)</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;            <a class="code" href="class_printer.html#adab8fcde855eab1f088c9b57208742bc">Printer::extruderStepsNeeded</a> -= (<a class="code" href="class_extruder.html#af1d7d7b55c2f7a3dbd696d1fd874c5aa">Extruder::current</a>-&gt;advanceBacklash &lt;&lt; 1);</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        Printer::advanceStepsSet = tred;</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        <a class="code" href="class_h_a_l.html#aad1e2ee3a56414df8328a9fc5cbfe6e4">HAL::allowInterrupts</a>();</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    }</div><div class="line"><a name="l00459"></a><span class="lineno"><a class="line" href="class_print_line.html#a6009facfe041055c6880bf0a68fb2151">  459</a></span>&#160;    <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a6009facfe041055c6880bf0a68fb2151">moveDecelerating</a>() {</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;        <span class="keywordflow">if</span>(stepsRemaining &lt;= static_cast&lt;int32_t&gt;(decelSteps)) {</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;            <span class="keywordflow">if</span> (!(flags &amp; <a class="code" href="motion_8h.html#ae80288e7929d2dd9a7a4aedcbbb53dbc">FLAG_DECELERATING</a>)) {</div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;                <a class="code" href="class_printer.html#ae11a2225e5f07d9acc50279e0582beec">Printer::timer</a> = 0;</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;                flags |= <a class="code" href="motion_8h.html#ae80288e7929d2dd9a7a4aedcbbb53dbc">FLAG_DECELERATING</a>;</div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;            }</div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;        } <span class="keywordflow">else</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    }</div><div class="line"><a name="l00468"></a><span class="lineno"><a class="line" href="class_print_line.html#a10dde3cb2f93ea07a845c004854d5a69">  468</a></span>&#160;    <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#a10dde3cb2f93ea07a845c004854d5a69">moveAccelerating</a>() {</div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="class_printer.html#a9bc05fe69fbf4e73e9c1a57234a4aa82">Printer::stepNumber</a> &lt;= <a class="code" href="class_print_line.html#a8d5a9977fdb761ce5a6ec923249d3bef">accelSteps</a>;</div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    }</div><div class="line"><a name="l00471"></a><span class="lineno"><a class="line" href="class_print_line.html#ad82b849b5cd2d6f811adaf4917d954b2">  471</a></span>&#160;    <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#ad82b849b5cd2d6f811adaf4917d954b2">startXStep</a>() {</div><div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;<span class="preprocessor">#if !(GANTRY) || defined(FAST_COREXYZ)</span></div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;        <a class="code" href="class_printer.html#a4d60d899ca573b9d32579c19d6c9dcf6">Printer::startXStep</a>();</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;<span class="preprocessor">#if DRIVE_SYSTEM == XY_GANTRY || DRIVE_SYSTEM == XZ_GANTRY</span></div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#ad818d54d3521f3d60ce60a5e0cb64b58">isXPositiveMove</a>()) {</div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;            <a class="code" href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a>++;</div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;            <a class="code" href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a>++;</div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;            <a class="code" href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a>--;</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;            <a class="code" href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a>--;</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        }</div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;<span class="preprocessor">#if DRIVE_SYSTEM == YX_GANTRY || DRIVE_SYSTEM == ZX_GANTRY</span></div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#ad818d54d3521f3d60ce60a5e0cb64b58">isXPositiveMove</a>()) {</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;            <a class="code" href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a>++;</div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;            <a class="code" href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a>--;</div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;            <a class="code" href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a>--;</div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;            <a class="code" href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a>++;</div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        }</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;<span class="preprocessor">#ifdef DEBUG_STEPCOUNT</span></div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        totalStepsRemaining--;</div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    }</div><div class="line"><a name="l00498"></a><span class="lineno"><a class="line" href="class_print_line.html#a211d2965466b5a2a59479f21fd73de71">  498</a></span>&#160;    <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a211d2965466b5a2a59479f21fd73de71">startYStep</a>() {</div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;<span class="preprocessor">#if !(GANTRY) || DRIVE_SYSTEM == ZX_GANTRY || DRIVE_SYSTEM == XZ_GANTRY || defined(FAST_COREXYZ)</span></div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;        <a class="code" href="class_printer.html#ae4856ead77cc2d2df88ed55235ffedcd">Printer::startYStep</a>();</div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;<span class="preprocessor">#if DRIVE_SYSTEM == XY_GANTRY</span></div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a7b44479b0bdf689046d37b7ca6e66a85">isYPositiveMove</a>()) {</div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;            <a class="code" href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a>++;</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;            <a class="code" href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a>--;</div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;            <a class="code" href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a>--;</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;            <a class="code" href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a>++;</div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;        }</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;<span class="preprocessor">#if DRIVE_SYSTEM == YX_GANTRY</span></div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a7b44479b0bdf689046d37b7ca6e66a85">isYPositiveMove</a>()) {</div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;            <a class="code" href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a>++;</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;            <a class="code" href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a>++;</div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;            <a class="code" href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a>--;</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;            <a class="code" href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a>--;</div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;        }</div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;<span class="preprocessor">#endif // GANTRY</span></div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;<span class="preprocessor">#ifdef DEBUG_STEPCOUNT</span></div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;        totalStepsRemaining--;</div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;</div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    }</div><div class="line"><a name="l00526"></a><span class="lineno"><a class="line" href="class_print_line.html#a01f5934b54c06e499da1a610e504a93d">  526</a></span>&#160;    <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a01f5934b54c06e499da1a610e504a93d">startZStep</a>() {</div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;<span class="preprocessor">#if !(GANTRY) || DRIVE_SYSTEM == YX_GANTRY || DRIVE_SYSTEM == XY_GANTRY || defined(FAST_COREXYZ)</span></div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;        <a class="code" href="class_printer.html#ade59857605c917a6594c03a1a3730821">Printer::startZStep</a>();</div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;<span class="preprocessor">#if DRIVE_SYSTEM == XZ_GANTRY</span></div><div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a87473d1ea597619844667fe0c2e5212a">isZPositiveMove</a>()) {</div><div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;            <a class="code" href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a>++;</div><div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;            <a class="code" href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a>--;</div><div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;            <a class="code" href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a>--;</div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;            <a class="code" href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a>++;</div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;        }</div><div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;<span class="preprocessor">#if DRIVE_SYSTEM == ZX_GANTRY</span></div><div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="class_print_line.html#a87473d1ea597619844667fe0c2e5212a">isZPositiveMove</a>()) {</div><div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;            <a class="code" href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a>++;</div><div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;            <a class="code" href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a>++;</div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;            <a class="code" href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a>--;</div><div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;            <a class="code" href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a>--;</div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;        }</div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;<span class="preprocessor">#ifdef DEBUG_STEPCOUNT</span></div><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;        totalStepsRemaining--;</div><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;    }</div><div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#ac52e0dca6f36a1b0a17f74bd2b4cb4ad">updateStepsParameter</a>();</div><div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_print_line.html#a2edee1ed4a9af688e2e18bdc69512557">safeSpeed</a>(<a class="code" href="_h_a_l_8h.html#adfaa4526bb47342be47f89a9eb6b3bef">fast8_t</a> drivingAxis);</div><div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#acf417e5a1750bb028bbcb2ff80bbdf68">calculateMove</a>(<span class="keywordtype">float</span> axis_diff[], uint8_t pathOptimize, <a class="code" href="_h_a_l_8h.html#adfaa4526bb47342be47f89a9eb6b3bef">fast8_t</a> distanceBase);</div><div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a07f971b5a1ca570b855c46ccc316b3f1">logLine</a>();</div><div class="line"><a name="l00557"></a><span class="lineno"><a class="line" href="class_print_line.html#a72373b92f9eefb9aff73cf010bd32ea5">  557</a></span>&#160;    <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">long</span> <a class="code" href="class_print_line.html#a72373b92f9eefb9aff73cf010bd32ea5">getWaitTicks</a>() {</div><div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="class_print_line.html#a5a2959462a93a1bc076e27a6d542b725">timeInTicks</a>;</div><div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;    }</div><div class="line"><a name="l00560"></a><span class="lineno"><a class="line" href="class_print_line.html#a2c2cf02c4ad6b329b5ba4e2c35c74c62">  560</a></span>&#160;    <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a2c2cf02c4ad6b329b5ba4e2c35c74c62">setWaitTicks</a>(<span class="keywordtype">long</span> wait) {</div><div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;        timeInTicks = wait;</div><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;    }</div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;</div><div class="line"><a name="l00564"></a><span class="lineno"><a class="line" href="class_print_line.html#adfeb603d77b99638b4e9c4b28006d4e2">  564</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="class_print_line.html#adfeb603d77b99638b4e9c4b28006d4e2">hasLines</a>() {</div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="class_print_line.html#a9bbe762bcdb08124847f2ca70b307dce">linesCount</a>;</div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    }</div><div class="line"><a name="l00567"></a><span class="lineno"><a class="line" href="class_print_line.html#a790c28b995a7d4aca2892a3773134bea">  567</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a790c28b995a7d4aca2892a3773134bea">setCurrentLine</a>() {</div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;        cur = &amp;lines[<a class="code" href="class_print_line.html#ab035178282970130dea0ab4102a21fe4">linesPos</a>];</div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;<span class="preprocessor">#if CPU_ARCH==ARCH_ARM</span></div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;        <a class="code" href="class_print_line.html#aa92df1f9c933a6ae0a45777a6c26df1d">PrintLine::nlFlag</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;    }</div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;    <span class="comment">// Only called from within interrupts</span></div><div class="line"><a name="l00574"></a><span class="lineno"><a class="line" href="class_print_line.html#ad8e7d65b49cb2640b3ea9366be3c88ba">  574</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#ad8e7d65b49cb2640b3ea9366be3c88ba">removeCurrentLineForbidInterrupt</a>() {</div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;                <a class="code" href="class_print_line.html#a3b8f1290b862956366809bb3bfc757e3">nextPlannerIndex</a>(linesPos);</div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;        cur = NULL;</div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;<span class="preprocessor">#if CPU_ARCH == ARCH_ARM</span></div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;        nlFlag = <span class="keyword">false</span>;</div><div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;        <a class="code" href="class_h_a_l.html#a56d49442ce5f9d581523326bcd39dd6c">HAL::forbidInterrupts</a>();</div><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;        --<a class="code" href="class_print_line.html#a9bbe762bcdb08124847f2ca70b307dce">linesCount</a>;</div><div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;        <span class="keywordflow">if</span>(!linesCount)</div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;            <a class="code" href="class_printer.html#aa7e49b42cc5f9e8f7f62b5fba6bfe1c9">Printer::setMenuMode</a>(<a class="code" href="_repetier_8h.html#a60a4db346f525182cdba845400b5ed8a">MENU_MODE_PRINTING</a>, <a class="code" href="class_printer.html#a8c15be9b2836cbe671d1e2e06d16e535">Printer::isPrinting</a>());</div><div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    }</div><div class="line"><a name="l00585"></a><span class="lineno"><a class="line" href="class_print_line.html#a5f86376a77fac8217c001950e3a4af05">  585</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a5f86376a77fac8217c001950e3a4af05">pushLine</a>() {</div><div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;                <a class="code" href="class_print_line.html#a3b8f1290b862956366809bb3bfc757e3">nextPlannerIndex</a>(linesWritePos);</div><div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;        <a class="code" href="class_printer.html#aa7e49b42cc5f9e8f7f62b5fba6bfe1c9">Printer::setMenuMode</a>(<a class="code" href="_repetier_8h.html#a60a4db346f525182cdba845400b5ed8a">MENU_MODE_PRINTING</a>, <span class="keyword">true</span>);</div><div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;        <a class="code" href="class_interrupt_protected_block.html">InterruptProtectedBlock</a> noInts;</div><div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;        linesCount++;</div><div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;    }</div><div class="line"><a name="l00591"></a><span class="lineno"><a class="line" href="class_print_line.html#a0b25338457744b6f1c7f1fe4227fb6bd">  591</a></span>&#160;    <span class="keyword">static</span> uint8_t <a class="code" href="class_print_line.html#a0b25338457744b6f1c7f1fe4227fb6bd">getLinesCount</a>() {</div><div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;        <a class="code" href="class_interrupt_protected_block.html">InterruptProtectedBlock</a> noInts;</div><div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="class_print_line.html#a9bbe762bcdb08124847f2ca70b307dce">linesCount</a>;</div><div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;    }</div><div class="line"><a name="l00595"></a><span class="lineno"><a class="line" href="class_print_line.html#a110d2c2337d2321df49afea2450c8698">  595</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="class_print_line.html">PrintLine</a> *<a class="code" href="class_print_line.html#a110d2c2337d2321df49afea2450c8698">getNextWriteLine</a>() {</div><div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;        <span class="keywordflow">return</span> &amp;lines[<a class="code" href="class_print_line.html#a7e52e0bfba9909ab94d3b22407d08091">linesWritePos</a>];</div><div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;    }</div><div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a615bf798c09e72296884ec9fce98431e">computeMaxJunctionSpeed</a>(<a class="code" href="class_print_line.html">PrintLine</a> *previous, <a class="code" href="class_print_line.html">PrintLine</a> *current);</div><div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;    <span class="keyword">static</span> int32_t <a class="code" href="class_print_line.html#a06b314c77062f18b11edd7a58dced232">bresenhamStep</a>();</div><div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a90baddae54c3b15853cafb52ca64f60a">waitForXFreeLines</a>(uint8_t b = 1, <span class="keywordtype">bool</span> allowMoves = <span class="keyword">false</span>);</div><div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#aa6c38b4fe17401bb697a20edcfe55cef">forwardPlanner</a>(<a class="code" href="_h_a_l_8h.html#a3f1bffae8d9bb8c41c21d1924b5c294c">ufast8_t</a> p);</div><div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a6df1053090484ae917049015769b0ac5">backwardPlanner</a>(<a class="code" href="_h_a_l_8h.html#a3f1bffae8d9bb8c41c21d1924b5c294c">ufast8_t</a> p, <a class="code" href="_h_a_l_8h.html#a3f1bffae8d9bb8c41c21d1924b5c294c">ufast8_t</a> last);</div><div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a26686a8f967adfbe4e04192a18a093f0">updateTrapezoids</a>();</div><div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;    <span class="keyword">static</span> uint8_t <a class="code" href="class_print_line.html#a1431ba9dc0080b5485f2217dd9a6ed6a">insertWaitMovesIfNeeded</a>(uint8_t pathOptimize, uint8_t waitExtraLines);</div><div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a28afed4199281f05939dadbde239812c">LaserWarmUp</a>(uint32_t wait);</div><div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;<span class="preprocessor">#if !NONLINEAR_SYSTEM || defined(DOXYGEN)</span></div><div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#acea25b3e96d4fa0e65ac51c3e4f4219c">queueCartesianMove</a>(uint8_t check_endstops, uint8_t pathOptimize);</div><div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;<span class="preprocessor">#if DISTORTION_CORRECTION || defined(DOXYGEN)</span></div><div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#aa97bedf1d948eb1a552d58a50128edda">queueCartesianSegmentTo</a>(uint8_t check_endstops, uint8_t pathOptimize);</div><div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#ab6ad99bfe2b45657b1e92398cb79ed06">moveRelativeDistanceInSteps</a>(int32_t x, int32_t y, int32_t z, int32_t e, <span class="keywordtype">float</span> feedrate, <span class="keywordtype">bool</span> waitEnd, <span class="keywordtype">bool</span> check_endstop, <span class="keywordtype">bool</span> pathOptimize = <span class="keyword">true</span>);</div><div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#aaa453ddf98e09c7555ca16ad445fce78">moveRelativeDistanceInStepsReal</a>(int32_t x, int32_t y, int32_t z, int32_t e, <span class="keywordtype">float</span> feedrate, <span class="keywordtype">bool</span> waitEnd, <span class="keywordtype">bool</span> pathOptimize = <span class="keyword">true</span>);</div><div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;<span class="preprocessor">#if ARC_SUPPORT || defined(DOXYGEN)</span></div><div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a2373a01a97fe27435a7562d8eac5d378">arc</a>(<span class="keywordtype">float</span> *position, <span class="keywordtype">float</span> *target, <span class="keywordtype">float</span> *offset, <span class="keywordtype">float</span> radius, uint8_t isclockwise);</div><div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00617"></a><span class="lineno"><a class="line" href="class_print_line.html#aa0f0caffeaf7127e9735fa3dbd2e3e6d">  617</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#aa0f0caffeaf7127e9735fa3dbd2e3e6d">previousPlannerIndex</a>(<a class="code" href="_h_a_l_8h.html#a3f1bffae8d9bb8c41c21d1924b5c294c">ufast8_t</a> &amp;p) {</div><div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;        p = (p ? p - 1 : <a class="code" href="_configuration_8h.html#a2fdd2fcb5062d8ba6c2a42a51817571e">PRINTLINE_CACHE_SIZE</a> - 1);</div><div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;    }</div><div class="line"><a name="l00620"></a><span class="lineno"><a class="line" href="class_print_line.html#a3b8f1290b862956366809bb3bfc757e3">  620</a></span>&#160;    <span class="keyword">static</span> <a class="code" href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a3b8f1290b862956366809bb3bfc757e3">nextPlannerIndex</a>(<a class="code" href="_h_a_l_8h.html#a3f1bffae8d9bb8c41c21d1924b5c294c">ufast8_t</a>&amp; p) {</div><div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;        p = (p &gt;= <a class="code" href="_configuration_8h.html#a2fdd2fcb5062d8ba6c2a42a51817571e">PRINTLINE_CACHE_SIZE</a> - 1 ? 0 : p + 1);</div><div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;    }</div><div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;<span class="preprocessor">#if NONLINEAR_SYSTEM || defined(DOXYGEN)</span></div><div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;    <span class="keyword">static</span> uint8_t <a class="code" href="class_print_line.html#aaa6367386b46d79eced1087d9b439aa5">queueNonlinearMove</a>(uint8_t check_endstops, uint8_t pathOptimize, uint8_t softEndstop);</div><div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a6af63545e197cbb1cfaebe60f69f9855">queueEMove</a>(int32_t e_diff, uint8_t check_endstops, uint8_t pathOptimize);</div><div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;    <span class="keyword">inline</span> uint16_t <a class="code" href="class_print_line.html#a62b33871eeb5a88a2e2ffa00a05e3ce9">calculateNonlinearSubSegments</a>(uint8_t softEndstop);</div><div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a38b4837028bb042ea05e76ae324aee24">calculateDirectionAndDelta</a>(int32_t difference[], <a class="code" href="_h_a_l_8h.html#a3f1bffae8d9bb8c41c21d1924b5c294c">ufast8_t</a> *dir, int32_t delta[]);</div><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;    <span class="keyword">static</span> <span class="keyword">inline</span> uint8_t <a class="code" href="class_print_line.html#ac38ebd915bf62a64ae1294abb3712297">calculateDistance</a>(<span class="keywordtype">float</span> axis_diff[], uint8_t dir, <span class="keywordtype">float</span> *distance);</div><div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;<span class="preprocessor">#if (SOFTWARE_LEVELING &amp;&amp; DRIVE_SYSTEM == DELTA) || defined(DOXYGEN)</span></div><div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_print_line.html#a7d2571c15787d1e1db2dfde5545c01c8">calculatePlane</a>(int32_t factors[], int32_t p1[], int32_t p2[], int32_t p3[]);</div><div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_print_line.html#a4a243394d8e634b70c2ffe8d8225bdcb">calcZOffset</a>(int32_t factors[], int32_t pointX, int32_t pointY);</div><div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;};</div><div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;</div><div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;</div><div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;</div><div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;<span class="preprocessor">#endif // MOTION_H_INCLUDED</span></div><div class="ttc" id="class_print_line_html_a615bf798c09e72296884ec9fce98431e"><div class="ttname"><a href="class_print_line.html#a615bf798c09e72296884ec9fce98431e">PrintLine::computeMaxJunctionSpeed</a></div><div class="ttdeci">static void computeMaxJunctionSpeed(PrintLine *previous, PrintLine *current)</div><div class="ttdef"><b>Definition:</b> motion.cpp:814</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a1880d95042fe1da0951e44b6e1dc3f8f"><div class="ttname"><a href="struct_nonlinear_segment.html#a1880d95042fe1da0951e44b6e1dc3f8f">NonlinearSegment::isZNegativeMove</a></div><div class="ttdeci">bool isZNegativeMove()</div><div class="ttdef"><b>Definition:</b> motion.h:89</div></div>
<div class="ttc" id="class_print_line_html_a571a3fc1613cfe6cc56b805e471a2276"><div class="ttname"><a href="class_print_line.html#a571a3fc1613cfe6cc56b805e471a2276">PrintLine::error</a></div><div class="ttdeci">int32_t error[E_AXIS_ARRAY]</div><div class="ttdoc">Error calculation for Bresenham algorithm. </div><div class="ttdef"><b>Definition:</b> motion.h:155</div></div>
<div class="ttc" id="class_print_line_html_a960332bc46700b0e7b1ab07c29c8b72f"><div class="ttname"><a href="class_print_line.html#a960332bc46700b0e7b1ab07c29c8b72f">PrintLine::setParameterUpToDate</a></div><div class="ttdeci">void setParameterUpToDate()</div><div class="ttdef"><b>Definition:</b> motion.h:204</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a5249817217022a14a1df5b24fb542409"><div class="ttname"><a href="struct_nonlinear_segment.html#a5249817217022a14a1df5b24fb542409">NonlinearSegment::setPositiveMoveOfAxis</a></div><div class="ttdeci">void setPositiveMoveOfAxis(uint8_t axis)</div><div class="ttdef"><b>Definition:</b> motion.h:128</div></div>
<div class="ttc" id="class_print_line_html_a0059685dda66276eb8c115b61ffaec1e"><div class="ttname"><a href="class_print_line.html#a0059685dda66276eb8c115b61ffaec1e">PrintLine::block</a></div><div class="ttdeci">void block()</div><div class="ttdef"><b>Definition:</b> motion.h:234</div></div>
<div class="ttc" id="class_print_line_html_a345f36290e1e30d7ed8033e08e79aeb8"><div class="ttname"><a href="class_print_line.html#a345f36290e1e30d7ed8033e08e79aeb8">PrintLine::isCheckEndstops</a></div><div class="ttdeci">bool isCheckEndstops()</div><div class="ttdef"><b>Definition:</b> motion.h:246</div></div>
<div class="ttc" id="class_print_line_html_a474bac3cb9cd4f218269dd5dcb794bc6"><div class="ttname"><a href="class_print_line.html#a474bac3cb9cd4f218269dd5dcb794bc6">PrintLine::fAcceleration</a></div><div class="ttdeci">uint32_t fAcceleration</div><div class="ttdoc">accelerationPrim*262144/F_CPU </div><div class="ttdef"><b>Definition:</b> motion.h:178</div></div>
<div class="ttc" id="class_print_line_html_ac2d964fd373cf0407d1bae38ac91e3d1"><div class="ttname"><a href="class_print_line.html#ac2d964fd373cf0407d1bae38ac91e3d1">PrintLine::isEndSpeedFixed</a></div><div class="ttdeci">bool isEndSpeedFixed()</div><div class="ttdef"><b>Definition:</b> motion.h:216</div></div>
<div class="ttc" id="class_h_a_l_html_aad1e2ee3a56414df8328a9fc5cbfe6e4"><div class="ttname"><a href="class_h_a_l.html#aad1e2ee3a56414df8328a9fc5cbfe6e4">HAL::allowInterrupts</a></div><div class="ttdeci">static void allowInterrupts()</div><div class="ttdef"><b>Definition:</b> HAL.h:568</div></div>
<div class="ttc" id="class_print_line_html_a6ceaa984944748ea7b5d23bb0514df7a"><div class="ttname"><a href="class_print_line.html#a6ceaa984944748ea7b5d23bb0514df7a">PrintLine::getWaitForXLinesFilled</a></div><div class="ttdeci">uint8_t getWaitForXLinesFilled()</div><div class="ttdef"><b>Definition:</b> motion.h:225</div></div>
<div class="ttc" id="class_print_line_html_a5f86376a77fac8217c001950e3a4af05"><div class="ttname"><a href="class_print_line.html#a5f86376a77fac8217c001950e3a4af05">PrintLine::pushLine</a></div><div class="ttdeci">static INLINE void pushLine()</div><div class="ttdef"><b>Definition:</b> motion.h:585</div></div>
<div class="ttc" id="class_print_line_html_aa97bedf1d948eb1a552d58a50128edda"><div class="ttname"><a href="class_print_line.html#aa97bedf1d948eb1a552d58a50128edda">PrintLine::queueCartesianSegmentTo</a></div><div class="ttdeci">static void queueCartesianSegmentTo(uint8_t check_endstops, uint8_t pathOptimize)</div><div class="ttdef"><b>Definition:</b> motion.cpp:201</div></div>
<div class="ttc" id="class_print_line_html_a452efa2899db085d525998d0d611e4f0"><div class="ttname"><a href="class_print_line.html#a452efa2899db085d525998d0d611e4f0">PrintLine::minSpeed</a></div><div class="ttdeci">float minSpeed</div><div class="ttdef"><b>Definition:</b> motion.h:166</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_ab7f80ea83c749c5afd6d24d077b66acb"><div class="ttname"><a href="struct_nonlinear_segment.html#ab7f80ea83c749c5afd6d24d077b66acb">NonlinearSegment::isYNegativeMove</a></div><div class="ttdeci">bool isYNegativeMove()</div><div class="ttdef"><b>Definition:</b> motion.h:83</div></div>
<div class="ttc" id="class_print_line_html_a935e99797276471aae48b51d58702f3c"><div class="ttname"><a href="class_print_line.html#a935e99797276471aae48b51d58702f3c">PrintLine::joinFlags</a></div><div class="ttdeci">ufast8_t joinFlags</div><div class="ttdef"><b>Definition:</b> motion.h:147</div></div>
<div class="ttc" id="class_print_line_html_ac08b9263746c90dd5dde317fb4bcc317"><div class="ttname"><a href="class_print_line.html#ac08b9263746c90dd5dde317fb4bcc317">PrintLine::endSpeed</a></div><div class="ttdeci">float endSpeed</div><div class="ttdoc">Exit speed in mm/s. </div><div class="ttdef"><b>Definition:</b> motion.h:165</div></div>
<div class="ttc" id="class_print_line_html_a211d2965466b5a2a59479f21fd73de71"><div class="ttname"><a href="class_print_line.html#a211d2965466b5a2a59479f21fd73de71">PrintLine::startYStep</a></div><div class="ttdeci">INLINE void startYStep()</div><div class="ttdef"><b>Definition:</b> motion.h:498</div></div>
<div class="ttc" id="class_print_line_html_a54d7a6d812c3f9d4f7e5979ceac52ad5"><div class="ttname"><a href="class_print_line.html#a54d7a6d812c3f9d4f7e5979ceac52ad5">PrintLine::isXOrZMove</a></div><div class="ttdeci">bool isXOrZMove()</div><div class="ttdef"><b>Definition:</b> motion.h:388</div></div>
<div class="ttc" id="class_print_line_html_a6e810d665824d4f3a98d6f53107657c8"><div class="ttname"><a href="class_print_line.html#a6e810d665824d4f3a98d6f53107657c8">PrintLine::isXOrYMove</a></div><div class="ttdeci">bool isXOrYMove()</div><div class="ttdef"><b>Definition:</b> motion.h:385</div></div>
<div class="ttc" id="_repetier_8h_html_ab810941c940603c826ff25dce2719025"><div class="ttname"><a href="_repetier_8h.html#ab810941c940603c826ff25dce2719025">YSTEP</a></div><div class="ttdeci">#define YSTEP</div><div class="ttdef"><b>Definition:</b> Repetier.h:190</div></div>
<div class="ttc" id="_repetier_8h_html_a34fa5706d1eef1e7a86feb2f51373062"><div class="ttname"><a href="_repetier_8h.html#a34fa5706d1eef1e7a86feb2f51373062">E_STEP_DIRPOS</a></div><div class="ttdeci">#define E_STEP_DIRPOS</div><div class="ttdef"><b>Definition:</b> Repetier.h:197</div></div>
<div class="ttc" id="class_print_line_html_ac38ebd915bf62a64ae1294abb3712297"><div class="ttname"><a href="class_print_line.html#ac38ebd915bf62a64ae1294abb3712297">PrintLine::calculateDistance</a></div><div class="ttdeci">static uint8_t calculateDistance(float axis_diff[], uint8_t dir, float *distance)</div></div>
<div class="ttc" id="class_print_line_html_aa6c38b4fe17401bb697a20edcfe55cef"><div class="ttname"><a href="class_print_line.html#aa6c38b4fe17401bb697a20edcfe55cef">PrintLine::forwardPlanner</a></div><div class="ttdeci">static void forwardPlanner(ufast8_t p)</div><div class="ttdef"><b>Definition:</b> motion.cpp:1000</div></div>
<div class="ttc" id="class_printer_html_a8c15be9b2836cbe671d1e2e06d16e535"><div class="ttname"><a href="class_printer.html#a8c15be9b2836cbe671d1e2e06d16e535">Printer::isPrinting</a></div><div class="ttdeci">static INLINE uint8_t isPrinting()</div><div class="ttdef"><b>Definition:</b> Printer.h:743</div></div>
<div class="ttc" id="class_printer_html_ae4856ead77cc2d2df88ed55235ffedcd"><div class="ttname"><a href="class_printer.html#ae4856ead77cc2d2df88ed55235ffedcd">Printer::startYStep</a></div><div class="ttdeci">static INLINE void startYStep()</div><div class="ttdef"><b>Definition:</b> Printer.h:944</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a9da7eb7a2de6d77ca6330d25fdd77169"><div class="ttname"><a href="struct_nonlinear_segment.html#a9da7eb7a2de6d77ca6330d25fdd77169">NonlinearSegment::setXYMoveFinished</a></div><div class="ttdeci">void setXYMoveFinished()</div><div class="ttdef"><b>Definition:</b> motion.h:71</div></div>
<div class="ttc" id="class_u_i_display_html"><div class="ttname"><a href="class_u_i_display.html">UIDisplay</a></div><div class="ttdef"><b>Definition:</b> ui.h:588</div></div>
<div class="ttc" id="class_print_line_html_aa349232d40a70fef936ebbb830ce8b0d"><div class="ttname"><a href="class_print_line.html#aa349232d40a70fef936ebbb830ce8b0d">PrintLine::fullInterval</a></div><div class="ttdeci">ticks_t fullInterval</div><div class="ttdoc">interval at full speed in ticks/step. </div><div class="ttdef"><b>Definition:</b> motion.h:174</div></div>
<div class="ttc" id="class_endstops_html_a270f80d0f076b4dfa159061014b144d0"><div class="ttname"><a href="class_endstops.html#a270f80d0f076b4dfa159061014b144d0">Endstops::yMin</a></div><div class="ttdeci">static INLINE bool yMin()</div><div class="ttdef"><b>Definition:</b> Endstops.h:101</div></div>
<div class="ttc" id="_configuration_8h_html_a2fdd2fcb5062d8ba6c2a42a51817571e"><div class="ttname"><a href="_configuration_8h.html#a2fdd2fcb5062d8ba6c2a42a51817571e">PRINTLINE_CACHE_SIZE</a></div><div class="ttdeci">#define PRINTLINE_CACHE_SIZE</div><div class="ttdoc">Number of moves we can cache in advance. </div><div class="ttdef"><b>Definition:</b> Configuration.h:1247</div></div>
<div class="ttc" id="motion_8h_html_a6d532b3a91829ce965b11bee7ce4a121"><div class="ttname"><a href="motion_8h.html#a6d532b3a91829ce965b11bee7ce4a121">FLAG_NOMINAL</a></div><div class="ttdeci">#define FLAG_NOMINAL</div><div class="ttdef"><b>Definition:</b> motion.h:29</div></div>
<div class="ttc" id="class_print_line_html_a2080b33ee609f7cb6bbde175277364b0"><div class="ttname"><a href="class_print_line.html#a2080b33ee609f7cb6bbde175277364b0">PrintLine::accelerationDistance2</a></div><div class="ttdeci">float accelerationDistance2</div><div class="ttdoc">Real 2.0*distance*acceleration mm²/s² </div><div class="ttdef"><b>Definition:</b> motion.h:162</div></div>
<div class="ttc" id="class_print_line_html_a203cb526747855f8729a5730cc536abf"><div class="ttname"><a href="class_print_line.html#a203cb526747855f8729a5730cc536abf">PrintLine::isZNegativeMove</a></div><div class="ttdeci">bool isZNegativeMove()</div><div class="ttdef"><b>Definition:</b> motion.h:370</div></div>
<div class="ttc" id="class_print_line_html_a2dba5522d4b3a6231443e722908ef369"><div class="ttname"><a href="class_print_line.html#a2dba5522d4b3a6231443e722908ef369">PrintLine::areParameterUpToDate</a></div><div class="ttdeci">bool areParameterUpToDate()</div><div class="ttdef"><b>Definition:</b> motion.h:198</div></div>
<div class="ttc" id="class_print_line_html_a282315fddece2b30390d8e14310fd320"><div class="ttname"><a href="class_print_line.html#a282315fddece2b30390d8e14310fd320">PrintLine::lines</a></div><div class="ttdeci">static PrintLine lines[]</div><div class="ttdoc">Cache for print moves. </div><div class="ttdef"><b>Definition:</b> motion.h:145</div></div>
<div class="ttc" id="class_print_line_html_ad4ab640e8caec9b7325e9b3f198c5314"><div class="ttname"><a href="class_print_line.html#ad4ab640e8caec9b7325e9b3f198c5314">PrintLine::isYNegativeMove</a></div><div class="ttdeci">bool isYNegativeMove()</div><div class="ttdef"><b>Definition:</b> motion.h:364</div></div>
<div class="ttc" id="class_print_line_html_a0cbd2b97d033b851b312efb6991a5089"><div class="ttname"><a href="class_print_line.html#a0cbd2b97d033b851b312efb6991a5089">PrintLine::speedX</a></div><div class="ttdeci">float speedX</div><div class="ttdoc">Speed in x direction at fullInterval in mm/s. </div><div class="ttdef"><b>Definition:</b> motion.h:156</div></div>
<div class="ttc" id="class_print_line_html_a9604010088b3652adbf7cd3d016fd4f5"><div class="ttname"><a href="class_print_line.html#a9604010088b3652adbf7cd3d016fd4f5">PrintLine::cur</a></div><div class="ttdeci">static PrintLine * cur</div><div class="ttdoc">Current printing line. </div><div class="ttdef"><b>Definition:</b> motion.h:196</div></div>
<div class="ttc" id="class_print_line_html_a3b8f1290b862956366809bb3bfc757e3"><div class="ttname"><a href="class_print_line.html#a3b8f1290b862956366809bb3bfc757e3">PrintLine::nextPlannerIndex</a></div><div class="ttdeci">static INLINE void nextPlannerIndex(ufast8_t &amp;p)</div><div class="ttdef"><b>Definition:</b> motion.h:620</div></div>
<div class="ttc" id="class_print_line_html_afeb6580418e0dc02d55c6aa7ad3c26b0"><div class="ttname"><a href="class_print_line.html#afeb6580418e0dc02d55c6aa7ad3c26b0">PrintLine::setStartSpeedFixed</a></div><div class="ttdeci">void setStartSpeedFixed(bool newState)</div><div class="ttdef"><b>Definition:</b> motion.h:210</div></div>
<div class="ttc" id="class_endstops_html_ac6e8eb1726d843b9206a3f72ef33d8f0"><div class="ttname"><a href="class_endstops.html#ac6e8eb1726d843b9206a3f72ef33d8f0">Endstops::zMax</a></div><div class="ttdeci">static INLINE bool zMax()</div><div class="ttdef"><b>Definition:</b> Endstops.h:122</div></div>
<div class="ttc" id="class_printer_html_adab8fcde855eab1f088c9b57208742bc"><div class="ttname"><a href="class_printer.html#adab8fcde855eab1f088c9b57208742bc">Printer::extruderStepsNeeded</a></div><div class="ttdeci">static volatile int extruderStepsNeeded</div><div class="ttdoc">This many extruder steps are still needed, &lt;0 = reverse steps needed. </div><div class="ttdef"><b>Definition:</b> Printer.h:238</div></div>
<div class="ttc" id="class_print_line_html_ace347cd927f30e13b62604b7dbc3a868"><div class="ttname"><a href="class_print_line.html#ace347cd927f30e13b62604b7dbc3a868">PrintLine::speedE</a></div><div class="ttdeci">float speedE</div><div class="ttdoc">Speed in E direction at fullInterval in mm/s. </div><div class="ttdef"><b>Definition:</b> motion.h:159</div></div>
<div class="ttc" id="class_print_line_html_a28afed4199281f05939dadbde239812c"><div class="ttname"><a href="class_print_line.html#a28afed4199281f05939dadbde239812c">PrintLine::LaserWarmUp</a></div><div class="ttdeci">static void LaserWarmUp(uint32_t wait)</div><div class="ttdef"><b>Definition:</b> motion.cpp:1118</div></div>
<div class="ttc" id="class_h_a_l_html_ae504c54e23bc159155c56855cb256a36"><div class="ttname"><a href="class_h_a_l.html#ae504c54e23bc159155c56855cb256a36">HAL::mulu16xu16to32</a></div><div class="ttdeci">static uint32_t mulu16xu16to32(unsigned int a, unsigned int b)</div><div class="ttdef"><b>Definition:</b> HAL.h:445</div></div>
<div class="ttc" id="class_print_line_html_ab0a7eb7cb4a91f513e7fff160cff7755"><div class="ttname"><a href="class_print_line.html#ab0a7eb7cb4a91f513e7fff160cff7755">PrintLine::setXYMoveFinished</a></div><div class="ttdeci">void setXYMoveFinished()</div><div class="ttdef"><b>Definition:</b> motion.h:352</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a6300222e3d80b2919d2bc26f7bb25b27"><div class="ttname"><a href="struct_nonlinear_segment.html#a6300222e3d80b2919d2bc26f7bb25b27">NonlinearSegment::isXNegativeMove</a></div><div class="ttdeci">bool isXNegativeMove()</div><div class="ttdef"><b>Definition:</b> motion.h:77</div></div>
<div class="ttc" id="motion_8h_html_ae80288e7929d2dd9a7a4aedcbbb53dbc"><div class="ttname"><a href="motion_8h.html#ae80288e7929d2dd9a7a4aedcbbb53dbc">FLAG_DECELERATING</a></div><div class="ttdeci">#define FLAG_DECELERATING</div><div class="ttdef"><b>Definition:</b> motion.h:30</div></div>
<div class="ttc" id="class_print_line_html_a22006b361ca12bd7821a15e2bdd5ba76"><div class="ttname"><a href="class_print_line.html#a22006b361ca12bd7821a15e2bdd5ba76">PrintLine::setPositiveDirectionForAxis</a></div><div class="ttdeci">void setPositiveDirectionForAxis(uint8_t axis)</div><div class="ttdef"><b>Definition:</b> motion.h:412</div></div>
<div class="ttc" id="_repetier_8h_html_a25aebe0b6f18b7c58a0a41889bc3afae"><div class="ttname"><a href="_repetier_8h.html#a25aebe0b6f18b7c58a0a41889bc3afae">XY_STEP</a></div><div class="ttdeci">#define XY_STEP</div><div class="ttdef"><b>Definition:</b> Repetier.h:195</div></div>
<div class="ttc" id="class_print_line_html_ae20d6852ad5c6fa2e6dc673d238e62fe"><div class="ttname"><a href="class_print_line.html#ae20d6852ad5c6fa2e6dc673d238e62fe">PrintLine::vStart</a></div><div class="ttdeci">speed_t vStart</div><div class="ttdoc">Starting speed in steps/s. </div><div class="ttdef"><b>Definition:</b> motion.h:180</div></div>
<div class="ttc" id="class_print_line_html_a27026402e96519c942752b04a542c6e6"><div class="ttname"><a href="class_print_line.html#a27026402e96519c942752b04a542c6e6">PrintLine::isMoveOfAxis</a></div><div class="ttdeci">bool isMoveOfAxis(uint8_t axis)</div><div class="ttdef"><b>Definition:</b> motion.h:406</div></div>
<div class="ttc" id="class_print_line_html_a86a7480485172bfddb476104534d2fed"><div class="ttname"><a href="class_print_line.html#a86a7480485172bfddb476104534d2fed">PrintLine::isXNegativeMove</a></div><div class="ttdeci">bool isXNegativeMove()</div><div class="ttdef"><b>Definition:</b> motion.h:358</div></div>
<div class="ttc" id="class_printer_html_acda780bdd99c85f623208089c3221099"><div class="ttname"><a href="class_printer.html#acda780bdd99c85f623208089c3221099">Printer::motorYorZ</a></div><div class="ttdeci">static int8_t motorYorZ</div><div class="ttdef"><b>Definition:</b> Printer.h:378</div></div>
<div class="ttc" id="class_print_line_html_ac95de900bccc73091f29b29fb635af54"><div class="ttname"><a href="class_print_line.html#ac95de900bccc73091f29b29fb635af54">PrintLine::speedY</a></div><div class="ttdeci">float speedY</div><div class="ttdoc">Speed in y direction at fullInterval in mm/s. </div><div class="ttdef"><b>Definition:</b> motion.h:157</div></div>
<div class="ttc" id="class_printer_html_a071382cfedb3a2f2fc5801f8cdeacc93"><div class="ttname"><a href="class_printer.html#a071382cfedb3a2f2fc5801f8cdeacc93">Printer::isAdvanceActivated</a></div><div class="ttdeci">static INLINE uint8_t isAdvanceActivated()</div><div class="ttdef"><b>Definition:</b> Printer.h:609</div></div>
<div class="ttc" id="class_print_line_html_a58b020d5a24c967b3318901cc3a0593e"><div class="ttname"><a href="class_print_line.html#a58b020d5a24c967b3318901cc3a0593e">PrintLine::updateAdvanceSteps</a></div><div class="ttdeci">void updateAdvanceSteps(speed_t v, uint8_t max_loops, bool accelerate)</div><div class="ttdef"><b>Definition:</b> motion.h:421</div></div>
<div class="ttc" id="_repetier_8h_html_aa990a5d13211af20034f6d36d48b63b2"><div class="ttname"><a href="_repetier_8h.html#aa990a5d13211af20034f6d36d48b63b2">XYZE_STEP</a></div><div class="ttdeci">#define XYZE_STEP</div><div class="ttdef"><b>Definition:</b> Repetier.h:196</div></div>
<div class="ttc" id="class_print_line_html_a803ce92dea3c851f08d5e3dcabd65f6f"><div class="ttname"><a href="class_print_line.html#a803ce92dea3c851f08d5e3dcabd65f6f">PrintLine::numNonlinearSegments</a></div><div class="ttdeci">uint8_t numNonlinearSegments</div><div class="ttdoc">Number of delta segments left in line. Decremented by stepper timer. </div><div class="ttdef"><b>Definition:</b> motion.h:169</div></div>
<div class="ttc" id="class_print_line_html_aaa6367386b46d79eced1087d9b439aa5"><div class="ttname"><a href="class_print_line.html#aaa6367386b46d79eced1087d9b439aa5">PrintLine::queueNonlinearMove</a></div><div class="ttdeci">static uint8_t queueNonlinearMove(uint8_t check_endstops, uint8_t pathOptimize, uint8_t softEndstop)</div></div>
<div class="ttc" id="_h_a_l_8h_html_a21799deb67a18c9ab43cbcc0b0131c27"><div class="ttname"><a href="_h_a_l_8h.html#a21799deb67a18c9ab43cbcc0b0131c27">flag8_t</a></div><div class="ttdeci">uint8_t flag8_t</div><div class="ttdef"><b>Definition:</b> HAL.h:159</div></div>
<div class="ttc" id="class_print_line_html_a2373a01a97fe27435a7562d8eac5d378"><div class="ttname"><a href="class_print_line.html#a2373a01a97fe27435a7562d8eac5d378">PrintLine::arc</a></div><div class="ttdeci">static void arc(float *position, float *target, float *offset, float radius, uint8_t isclockwise)</div><div class="ttdef"><b>Definition:</b> motion.cpp:2049</div></div>
<div class="ttc" id="class_h_a_l_html_af802bafb9205906a50047a1094ce1150"><div class="ttname"><a href="class_h_a_l.html#af802bafb9205906a50047a1094ce1150">HAL::mulu6xu16shift16</a></div><div class="ttdeci">static unsigned int mulu6xu16shift16(unsigned int a, unsigned int b)</div><div class="ttdef"><b>Definition:</b> HAL.h:472</div></div>
<div class="ttc" id="class_print_line_html_ab2cba40c631d9067d557d99666bf895d"><div class="ttname"><a href="class_print_line.html#ab2cba40c631d9067d557d99666bf895d">PrintLine::invalidateParameter</a></div><div class="ttdeci">void invalidateParameter()</div><div class="ttdef"><b>Definition:</b> motion.h:201</div></div>
<div class="ttc" id="class_print_line_html_a9e7abd979b7adf282dea4cd2bfe98b58"><div class="ttname"><a href="class_print_line.html#a9e7abd979b7adf282dea4cd2bfe98b58">PrintLine::stepsRemaining</a></div><div class="ttdeci">int32_t stepsRemaining</div><div class="ttdoc">Remaining steps, until move is finished. </div><div class="ttdef"><b>Definition:</b> motion.h:195</div></div>
<div class="ttc" id="class_print_line_html_a228c9c2f172b8ef16e28712f7a68b825"><div class="ttname"><a href="class_print_line.html#a228c9c2f172b8ef16e28712f7a68b825">PrintLine::secondSpeed</a></div><div class="ttdeci">secondspeed_t secondSpeed</div><div class="ttdef"><b>Definition:</b> motion.h:149</div></div>
<div class="ttc" id="motion_8h_html_a6a2aad6af3e26a70043bb667d9fe6722"><div class="ttname"><a href="motion_8h.html#a6a2aad6af3e26a70043bb667d9fe6722">FLAG_WARMUP</a></div><div class="ttdeci">#define FLAG_WARMUP</div><div class="ttdef"><b>Definition:</b> motion.h:28</div></div>
<div class="ttc" id="class_print_line_html_a110d2c2337d2321df49afea2450c8698"><div class="ttname"><a href="class_print_line.html#a110d2c2337d2321df49afea2450c8698">PrintLine::getNextWriteLine</a></div><div class="ttdeci">static PrintLine * getNextWriteLine()</div><div class="ttdef"><b>Definition:</b> motion.h:595</div></div>
<div class="ttc" id="_h_a_l_8h_html_a80a0874aa42d7783b26fce1ea16f6658"><div class="ttname"><a href="_h_a_l_8h.html#a80a0874aa42d7783b26fce1ea16f6658">speed_t</a></div><div class="ttdeci">uint16_t speed_t</div><div class="ttdef"><b>Definition:</b> HAL.h:156</div></div>
<div class="ttc" id="class_print_line_html_a705545ca18016f753841f2c05d1b1983"><div class="ttname"><a href="class_print_line.html#a705545ca18016f753841f2c05d1b1983">PrintLine::resetPathPlanner</a></div><div class="ttdeci">static void resetPathPlanner()</div><div class="ttdef"><b>Definition:</b> motion.h:415</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_aef6a5c627254f067cd7e3824c5d3fac1"><div class="ttname"><a href="struct_nonlinear_segment.html#aef6a5c627254f067cd7e3824c5d3fac1">NonlinearSegment::isMoveOfAxis</a></div><div class="ttdeci">bool isMoveOfAxis(uint8_t axis)</div><div class="ttdef"><b>Definition:</b> motion.h:122</div></div>
<div class="ttc" id="class_print_line_html_aa0f0caffeaf7127e9735fa3dbd2e3e6d"><div class="ttname"><a href="class_print_line.html#aa0f0caffeaf7127e9735fa3dbd2e3e6d">PrintLine::previousPlannerIndex</a></div><div class="ttdeci">static INLINE void previousPlannerIndex(ufast8_t &amp;p)</div><div class="ttdef"><b>Definition:</b> motion.h:617</div></div>
<div class="ttc" id="class_print_line_html_a2fbae3aac558bc851543cb150b434005"><div class="ttname"><a href="class_print_line.html#a2fbae3aac558bc851543cb150b434005">PrintLine::setNominalMove</a></div><div class="ttdeci">void setNominalMove()</div><div class="ttdef"><b>Definition:</b> motion.h:252</div></div>
<div class="ttc" id="class_print_line_html_a87473d1ea597619844667fe0c2e5212a"><div class="ttname"><a href="class_print_line.html#a87473d1ea597619844667fe0c2e5212a">PrintLine::isZPositiveMove</a></div><div class="ttdeci">bool isZPositiveMove()</div><div class="ttdef"><b>Definition:</b> motion.h:367</div></div>
<div class="ttc" id="class_print_line_html_a787b349f40650fa64023b01ae1d0e1fc"><div class="ttname"><a href="class_print_line.html#a787b349f40650fa64023b01ae1d0e1fc">PrintLine::isStartSpeedFixed</a></div><div class="ttdeci">bool isStartSpeedFixed()</div><div class="ttdef"><b>Definition:</b> motion.h:207</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_ab9d1c3e9fc8500f6096691a21ea4f488"><div class="ttname"><a href="struct_nonlinear_segment.html#ab9d1c3e9fc8500f6096691a21ea4f488">NonlinearSegment::isNoMove</a></div><div class="ttdeci">bool isNoMove()</div><div class="ttdef"><b>Definition:</b> motion.h:116</div></div>
<div class="ttc" id="motion_8h_html_a4928545b38f0d9f7c1cef343171db6b6"><div class="ttname"><a href="motion_8h.html#a4928545b38f0d9f7c1cef343171db6b6">FLAG_CHECK_ENDSTOPS</a></div><div class="ttdeci">#define FLAG_CHECK_ENDSTOPS</div><div class="ttdef"><b>Definition:</b> motion.h:32</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a826b5b1b25f72951404321cbaddaa785"><div class="ttname"><a href="struct_nonlinear_segment.html#a826b5b1b25f72951404321cbaddaa785">NonlinearSegment::setYMoveFinished</a></div><div class="ttdeci">void setYMoveFinished()</div><div class="ttdef"><b>Definition:</b> motion.h:65</div></div>
<div class="ttc" id="class_printer_html_a953b431d55106c5a72db1d3f502f8236"><div class="ttname"><a href="class_printer.html#a953b431d55106c5a72db1d3f502f8236">Printer::isHoming</a></div><div class="ttdeci">static INLINE uint8_t isHoming()</div><div class="ttdef"><b>Definition:</b> Printer.h:766</div></div>
<div class="ttc" id="class_endstops_html_adfaeecd453ba45101bb21eb92bb061cd"><div class="ttname"><a href="class_endstops.html#adfaeecd453ba45101bb21eb92bb061cd">Endstops::z2MinMax</a></div><div class="ttdeci">static INLINE bool z2MinMax()</div><div class="ttdef"><b>Definition:</b> Endstops.h:129</div></div>
<div class="ttc" id="class_print_line_html"><div class="ttname"><a href="class_print_line.html">PrintLine</a></div><div class="ttdef"><b>Definition:</b> motion.h:138</div></div>
<div class="ttc" id="motion_8h_html_a59de958cd229719951c39ec47980612a"><div class="ttname"><a href="motion_8h.html#a59de958cd229719951c39ec47980612a">FLAG_JOIN_END_FIXED</a></div><div class="ttdeci">#define FLAG_JOIN_END_FIXED</div><div class="ttdef"><b>Definition:</b> motion.h:40</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a1cf10edd117a93123de0d4dba6a93d46"><div class="ttname"><a href="struct_nonlinear_segment.html#a1cf10edd117a93123de0d4dba6a93d46">NonlinearSegment::isZMove</a></div><div class="ttdeci">bool isZMove()</div><div class="ttdef"><b>Definition:</b> motion.h:107</div></div>
<div class="ttc" id="class_print_line_html_a48ca90d76169db0137222d4f7d2f9855"><div class="ttname"><a href="class_print_line.html#a48ca90d76169db0137222d4f7d2f9855">PrintLine::setZMoveFinished</a></div><div class="ttdeci">void setZMoveFinished()</div><div class="ttdef"><b>Definition:</b> motion.h:345</div></div>
<div class="ttc" id="class_print_line_html_a0cbe98e356a7d693d06339512465b8c5"><div class="ttname"><a href="class_print_line.html#a0cbe98e356a7d693d06339512465b8c5">PrintLine::isXMove</a></div><div class="ttdeci">bool isXMove()</div><div class="ttdef"><b>Definition:</b> motion.h:379</div></div>
<div class="ttc" id="class_endstops_html_a8a7feb2b2bef33c19c4877508f2be5e9"><div class="ttname"><a href="class_endstops.html#a8a7feb2b2bef33c19c4877508f2be5e9">Endstops::yMax</a></div><div class="ttdeci">static INLINE bool yMax()</div><div class="ttdef"><b>Definition:</b> Endstops.h:108</div></div>
<div class="ttc" id="class_endstops_html_a4f32e9df9550e568cb8d7daa9aa1a897"><div class="ttname"><a href="class_endstops.html#a4f32e9df9550e568cb8d7daa9aa1a897">Endstops::xMin</a></div><div class="ttdeci">static INLINE bool xMin()</div><div class="ttdef"><b>Definition:</b> Endstops.h:87</div></div>
<div class="ttc" id="class_print_line_html_a7c7fd3df9fc6c2a723c971f75ce4dd33"><div class="ttname"><a href="class_print_line.html#a7c7fd3df9fc6c2a723c971f75ce4dd33">PrintLine::startSpeed</a></div><div class="ttdeci">float startSpeed</div><div class="ttdoc">Starting speed in mm/s. </div><div class="ttdef"><b>Definition:</b> motion.h:164</div></div>
<div class="ttc" id="class_interrupt_protected_block_html"><div class="ttname"><a href="class_interrupt_protected_block.html">InterruptProtectedBlock</a></div><div class="ttdef"><b>Definition:</b> HAL.h:103</div></div>
<div class="ttc" id="class_print_line_html_a01f5934b54c06e499da1a610e504a93d"><div class="ttname"><a href="class_print_line.html#a01f5934b54c06e499da1a610e504a93d">PrintLine::startZStep</a></div><div class="ttdeci">INLINE void startZStep()</div><div class="ttdef"><b>Definition:</b> motion.h:526</div></div>
<div class="ttc" id="class_print_line_html_a790c28b995a7d4aca2892a3773134bea"><div class="ttname"><a href="class_print_line.html#a790c28b995a7d4aca2892a3773134bea">PrintLine::setCurrentLine</a></div><div class="ttdeci">static INLINE void setCurrentLine()</div><div class="ttdef"><b>Definition:</b> motion.h:567</div></div>
<div class="ttc" id="class_print_line_html_a26686a8f967adfbe4e04192a18a093f0"><div class="ttname"><a href="class_print_line.html#a26686a8f967adfbe4e04192a18a093f0">PrintLine::updateTrapezoids</a></div><div class="ttdeci">static void updateTrapezoids()</div><div class="ttdef"><b>Definition:</b> motion.cpp:669</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a298c0d44f2ef4a3102e07460931c6024"><div class="ttname"><a href="struct_nonlinear_segment.html#a298c0d44f2ef4a3102e07460931c6024">NonlinearSegment::isXYZMove</a></div><div class="ttdeci">bool isXYZMove()</div><div class="ttdef"><b>Definition:</b> motion.h:119</div></div>
<div class="ttc" id="class_printer_html_aa7e49b42cc5f9e8f7f62b5fba6bfe1c9"><div class="ttname"><a href="class_printer.html#aa7e49b42cc5f9e8f7f62b5fba6bfe1c9">Printer::setMenuMode</a></div><div class="ttdeci">static INLINE void setMenuMode(uint16_t mode, bool on)</div><div class="ttdef"><b>Definition:</b> Printer.h:401</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a3bebe31afdd546538d9115bdd77f9008"><div class="ttname"><a href="struct_nonlinear_segment.html#a3bebe31afdd546538d9115bdd77f9008">NonlinearSegment::isZPositiveMove</a></div><div class="ttdeci">bool isZPositiveMove()</div><div class="ttdef"><b>Definition:</b> motion.h:86</div></div>
<div class="ttc" id="class_print_line_html_a5a2959462a93a1bc076e27a6d542b725"><div class="ttname"><a href="class_print_line.html#a5a2959462a93a1bc076e27a6d542b725">PrintLine::timeInTicks</a></div><div class="ttdeci">int32_t timeInTicks</div><div class="ttdef"><b>Definition:</b> motion.h:153</div></div>
<div class="ttc" id="_repetier_8h_html_ab86b7a680d4bf92b92a3f085bdce6332"><div class="ttname"><a href="_repetier_8h.html#ab86b7a680d4bf92b92a3f085bdce6332">secondspeed_t</a></div><div class="ttdeci">uint8_t secondspeed_t</div><div class="ttdef"><b>Definition:</b> Repetier.h:217</div></div>
<div class="ttc" id="class_print_line_html_a4a243394d8e634b70c2ffe8d8225bdcb"><div class="ttname"><a href="class_print_line.html#a4a243394d8e634b70c2ffe8d8225bdcb">PrintLine::calcZOffset</a></div><div class="ttdeci">static float calcZOffset(int32_t factors[], int32_t pointX, int32_t pointY)</div></div>
<div class="ttc" id="class_print_line_html_a4f94e8fd43b7f6cab41d2e7a916f2976"><div class="ttname"><a href="class_print_line.html#a4f94e8fd43b7f6cab41d2e7a916f2976">PrintLine::segments</a></div><div class="ttdeci">NonlinearSegment segments[DELTASEGMENTS_PER_PRINTLINE]</div><div class="ttdef"><b>Definition:</b> motion.h:172</div></div>
<div class="ttc" id="class_extruder_html_af1d7d7b55c2f7a3dbd696d1fd874c5aa"><div class="ttname"><a href="class_extruder.html#af1d7d7b55c2f7a3dbd696d1fd874c5aa">Extruder::current</a></div><div class="ttdeci">static Extruder * current</div><div class="ttdef"><b>Definition:</b> Extruder.h:233</div></div>
<div class="ttc" id="class_print_line_html_aac01f7b211401fb1ab9849d55e8ce195"><div class="ttname"><a href="class_print_line.html#aac01f7b211401fb1ab9849d55e8ce195">PrintLine::isZMove</a></div><div class="ttdeci">bool isZMove()</div><div class="ttdef"><b>Definition:</b> motion.h:391</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_aaca5ec9eacc1efdc39103c937cc90cc2"><div class="ttname"><a href="struct_nonlinear_segment.html#aaca5ec9eacc1efdc39103c937cc90cc2">NonlinearSegment::isYMove</a></div><div class="ttdeci">bool isYMove()</div><div class="ttdef"><b>Definition:</b> motion.h:101</div></div>
<div class="ttc" id="class_print_line_html_a90baddae54c3b15853cafb52ca64f60a"><div class="ttname"><a href="class_print_line.html#a90baddae54c3b15853cafb52ca64f60a">PrintLine::waitForXFreeLines</a></div><div class="ttdeci">static void waitForXFreeLines(uint8_t b=1, bool allowMoves=false)</div><div class="ttdef"><b>Definition:</b> motion.cpp:1149</div></div>
<div class="ttc" id="class_printer_html_a9bc05fe69fbf4e73e9c1a57234a4aa82"><div class="ttname"><a href="class_printer.html#a9bc05fe69fbf4e73e9c1a57234a4aa82">Printer::stepNumber</a></div><div class="ttdeci">static uint32_t stepNumber</div><div class="ttdoc">Step number in current move. </div><div class="ttdef"><b>Definition:</b> Printer.h:272</div></div>
<div class="ttc" id="_repetier_8h_html_a1f9f73c5ba9f5151d3fa3f79605357e3"><div class="ttname"><a href="_repetier_8h.html#a1f9f73c5ba9f5151d3fa3f79605357e3">XYZ_STEP</a></div><div class="ttdeci">#define XYZ_STEP</div><div class="ttdef"><b>Definition:</b> Repetier.h:194</div></div>
<div class="ttc" id="class_print_line_html_a6c0d3ef96eb067fa9fbbd4f0ffd61df6"><div class="ttname"><a href="class_print_line.html#a6c0d3ef96eb067fa9fbbd4f0ffd61df6">PrintLine::isBlocked</a></div><div class="ttdeci">bool isBlocked()</div><div class="ttdef"><b>Definition:</b> motion.h:240</div></div>
<div class="ttc" id="class_print_line_html_a7d2571c15787d1e1db2dfde5545c01c8"><div class="ttname"><a href="class_print_line.html#a7d2571c15787d1e1db2dfde5545c01c8">PrintLine::calculatePlane</a></div><div class="ttdeci">static void calculatePlane(int32_t factors[], int32_t p1[], int32_t p2[], int32_t p3[])</div></div>
<div class="ttc" id="motion_8h_html_a91042aaf3cefe55cabf89a9fc450c834"><div class="ttname"><a href="motion_8h.html#a91042aaf3cefe55cabf89a9fc450c834">FLAG_ALL_E_MOTORS</a></div><div class="ttdeci">#define FLAG_ALL_E_MOTORS</div><div class="ttdef"><b>Definition:</b> motion.h:33</div></div>
<div class="ttc" id="class_printer_html_ade59857605c917a6594c03a1a3730821"><div class="ttname"><a href="class_printer.html#ade59857605c917a6594c03a1a3730821">Printer::startZStep</a></div><div class="ttdeci">static INLINE void startZStep()</div><div class="ttdef"><b>Definition:</b> Printer.h:950</div></div>
<div class="ttc" id="class_print_line_html_ab6ad99bfe2b45657b1e92398cb79ed06"><div class="ttname"><a href="class_print_line.html#ab6ad99bfe2b45657b1e92398cb79ed06">PrintLine::moveRelativeDistanceInSteps</a></div><div class="ttdeci">static void moveRelativeDistanceInSteps(int32_t x, int32_t y, int32_t z, int32_t e, float feedrate, bool waitEnd, bool check_endstop, bool pathOptimize=true)</div><div class="ttdef"><b>Definition:</b> motion.cpp:104</div></div>
<div class="ttc" id="class_print_line_html_acd23da39514b34ad309c1127d96949e7"><div class="ttname"><a href="class_print_line.html#acd23da39514b34ad309c1127d96949e7">PrintLine::setWaitForXLinesFilled</a></div><div class="ttdeci">void setWaitForXLinesFilled(uint8_t b)</div><div class="ttdef"><b>Definition:</b> motion.h:228</div></div>
<div class="ttc" id="class_print_line_html_a0b25338457744b6f1c7f1fe4227fb6bd"><div class="ttname"><a href="class_print_line.html#a0b25338457744b6f1c7f1fe4227fb6bd">PrintLine::getLinesCount</a></div><div class="ttdeci">static uint8_t getLinesCount()</div><div class="ttdef"><b>Definition:</b> motion.h:591</div></div>
<div class="ttc" id="class_print_line_html_a1ebcada86acf0660795a883ffc527645"><div class="ttname"><a href="class_print_line.html#a1ebcada86acf0660795a883ffc527645">PrintLine::primaryAxis</a></div><div class="ttdeci">fast8_t primaryAxis</div><div class="ttdef"><b>Definition:</b> motion.h:151</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a22d68f0ae2c73cdd6c744d1385ebb3e1"><div class="ttname"><a href="struct_nonlinear_segment.html#a22d68f0ae2c73cdd6c744d1385ebb3e1">NonlinearSegment::setZMoveFinished</a></div><div class="ttdeci">void setZMoveFinished()</div><div class="ttdef"><b>Definition:</b> motion.h:68</div></div>
<div class="ttc" id="_repetier_8h_html_a1af2907a6b7f6543b7d4c369e8901467"><div class="ttname"><a href="_repetier_8h.html#a1af2907a6b7f6543b7d4c369e8901467">TOWER_ARRAY</a></div><div class="ttdeci">#define TOWER_ARRAY</div><div class="ttdef"><b>Definition:</b> Repetier.h:134</div></div>
<div class="ttc" id="class_endstops_html_aec00bada95448031050099a2ab26069a"><div class="ttname"><a href="class_endstops.html#aec00bada95448031050099a2ab26069a">Endstops::xMax</a></div><div class="ttdeci">static INLINE bool xMax()</div><div class="ttdef"><b>Definition:</b> Endstops.h:94</div></div>
<div class="ttc" id="struct_nonlinear_segment_html"><div class="ttname"><a href="struct_nonlinear_segment.html">NonlinearSegment</a></div><div class="ttdef"><b>Definition:</b> motion.h:58</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a11280447f426229f25d3e21122a4c5d5"><div class="ttname"><a href="struct_nonlinear_segment.html#a11280447f426229f25d3e21122a4c5d5">NonlinearSegment::isYPositiveMove</a></div><div class="ttdeci">bool isYPositiveMove()</div><div class="ttdef"><b>Definition:</b> motion.h:80</div></div>
<div class="ttc" id="class_printer_html_a88a82c8a8ff1234c3f9bb4dc9995d790"><div class="ttname"><a href="class_printer.html#a88a82c8a8ff1234c3f9bb4dc9995d790">Printer::multiZHomeFlags</a></div><div class="ttdeci">static fast8_t multiZHomeFlags</div><div class="ttdef"><b>Definition:</b> Printer.h:369</div></div>
<div class="ttc" id="class_print_line_html_a185be6dae3dcb9e074fc93146771006a"><div class="ttname"><a href="class_print_line.html#a185be6dae3dcb9e074fc93146771006a">PrintLine::isWarmUp</a></div><div class="ttdeci">bool isWarmUp()</div><div class="ttdef"><b>Definition:</b> motion.h:222</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a6128a2f5a28fe3d72e916536dbe75af1"><div class="ttname"><a href="struct_nonlinear_segment.html#a6128a2f5a28fe3d72e916536dbe75af1">NonlinearSegment::setPositiveDirectionForAxis</a></div><div class="ttdeci">void setPositiveDirectionForAxis(uint8_t axis)</div><div class="ttdef"><b>Definition:</b> motion.h:131</div></div>
<div class="ttc" id="class_printer_html_ad309cd9359952cf421b0bba123aacd2c"><div class="ttname"><a href="class_printer.html#ad309cd9359952cf421b0bba123aacd2c">Printer::motorX</a></div><div class="ttdeci">static int8_t motorX</div><div class="ttdef"><b>Definition:</b> Printer.h:377</div></div>
<div class="ttc" id="class_print_line_html_adfd329c82179681a5bc28a8d555a5728"><div class="ttname"><a href="class_print_line.html#adfd329c82179681a5bc28a8d555a5728">PrintLine::isNominalMove</a></div><div class="ttdeci">bool isNominalMove()</div><div class="ttdef"><b>Definition:</b> motion.h:249</div></div>
<div class="ttc" id="class_endstops_html_ab2b97757e523410988bd567f84a50403"><div class="ttname"><a href="class_endstops.html#ab2b97757e523410988bd567f84a50403">Endstops::zProbe</a></div><div class="ttdeci">static INLINE bool zProbe()</div><div class="ttdef"><b>Definition:</b> Endstops.h:136</div></div>
<div class="ttc" id="class_print_line_html_a549a042b1dfb3c55d9eb64a28f4830cd"><div class="ttname"><a href="class_print_line.html#a549a042b1dfb3c55d9eb64a28f4830cd">PrintLine::invFullSpeed</a></div><div class="ttdeci">float invFullSpeed</div><div class="ttdoc">1.0/fullSpeed for faster computation </div><div class="ttdef"><b>Definition:</b> motion.h:161</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a867b6a0b807b667b3b80be8f65347586"><div class="ttname"><a href="struct_nonlinear_segment.html#a867b6a0b807b667b3b80be8f65347586">NonlinearSegment::isEMove</a></div><div class="ttdeci">bool isEMove()</div><div class="ttdef"><b>Definition:</b> motion.h:110</div></div>
<div class="ttc" id="class_print_line_html_a735d73a517d0049706af95103c45a353"><div class="ttname"><a href="class_print_line.html#a735d73a517d0049706af95103c45a353">PrintLine::isAllEMotors</a></div><div class="ttdeci">bool isAllEMotors()</div><div class="ttdef"><b>Definition:</b> motion.h:243</div></div>
<div class="ttc" id="class_print_line_html_ab8dd5207aed1b57d7bbff1c52a23025a"><div class="ttname"><a href="class_print_line.html#ab8dd5207aed1b57d7bbff1c52a23025a">PrintLine::setXMoveFinished</a></div><div class="ttdeci">void setXMoveFinished()</div><div class="ttdef"><b>Definition:</b> motion.h:329</div></div>
<div class="ttc" id="class_print_line_html_ac5b277fca6468cff82f386ba0cecaef3"><div class="ttname"><a href="class_print_line.html#ac5b277fca6468cff82f386ba0cecaef3">PrintLine::setEndSpeedFixed</a></div><div class="ttdeci">void setEndSpeedFixed(bool newState)</div><div class="ttdef"><b>Definition:</b> motion.h:219</div></div>
<div class="ttc" id="_h_a_l_8h_html_a3f1bffae8d9bb8c41c21d1924b5c294c"><div class="ttname"><a href="_h_a_l_8h.html#a3f1bffae8d9bb8c41c21d1924b5c294c">ufast8_t</a></div><div class="ttdeci">uint8_t ufast8_t</div><div class="ttdef"><b>Definition:</b> HAL.h:161</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_ab4fa972593655407aa78314b9492210a"><div class="ttname"><a href="struct_nonlinear_segment.html#ab4fa972593655407aa78314b9492210a">NonlinearSegment::isXPositiveMove</a></div><div class="ttdeci">bool isXPositiveMove()</div><div class="ttdef"><b>Definition:</b> motion.h:74</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_aeb974809ea9b69181a7a5f17776e63a1"><div class="ttname"><a href="struct_nonlinear_segment.html#aeb974809ea9b69181a7a5f17776e63a1">NonlinearSegment::isXMove</a></div><div class="ttdeci">bool isXMove()</div><div class="ttdef"><b>Definition:</b> motion.h:98</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_af60f7e5ca596c42d5923362508c19997"><div class="ttname"><a href="struct_nonlinear_segment.html#af60f7e5ca596c42d5923362508c19997">NonlinearSegment::isEPositiveMove</a></div><div class="ttdeci">bool isEPositiveMove()</div><div class="ttdef"><b>Definition:</b> motion.h:92</div></div>
<div class="ttc" id="class_print_line_html_a06b314c77062f18b11edd7a58dced232"><div class="ttname"><a href="class_print_line.html#a06b314c77062f18b11edd7a58dced232">PrintLine::bresenhamStep</a></div><div class="ttdeci">static int32_t bresenhamStep()</div><div class="ttdef"><b>Definition:</b> motion.cpp:2545</div></div>
<div class="ttc" id="class_printer_html_ac90531d9b39f45e2e4a27c7b5e6ebdae"><div class="ttname"><a href="class_printer.html#ac90531d9b39f45e2e4a27c7b5e6ebdae">Printer::isZProbingActive</a></div><div class="ttdeci">static INLINE bool isZProbingActive()</div><div class="ttdef"><b>Definition:</b> Printer.h:848</div></div>
<div class="ttc" id="class_print_line_html_a92623288a079ad3f39a90b5ab7e8dfcc"><div class="ttname"><a href="class_print_line.html#a92623288a079ad3f39a90b5ab7e8dfcc">PrintLine::isExtruderForwardMove</a></div><div class="ttdeci">bool isExtruderForwardMove()</div><div class="ttdef"><b>Definition:</b> motion.h:231</div></div>
<div class="ttc" id="class_print_line_html_aa92df1f9c933a6ae0a45777a6c26df1d"><div class="ttname"><a href="class_print_line.html#aa92df1f9c933a6ae0a45777a6c26df1d">PrintLine::nlFlag</a></div><div class="ttdeci">static volatile bool nlFlag</div><div class="ttdef"><b>Definition:</b> motion.h:141</div></div>
<div class="ttc" id="class_print_line_html_a848aeb0ffea207d5f89ca220e7f9070e"><div class="ttname"><a href="class_print_line.html#a848aeb0ffea207d5f89ca220e7f9070e">PrintLine::decelSteps</a></div><div class="ttdeci">uint32_t decelSteps</div><div class="ttdoc">How much steps does it take, to reach the end speed. </div><div class="ttdef"><b>Definition:</b> motion.h:176</div></div>
<div class="ttc" id="_configuration_8h_html_a8979aa57ea96820a5702cc920ad7d836"><div class="ttname"><a href="_configuration_8h.html#a8979aa57ea96820a5702cc920ad7d836">DELTASEGMENTS_PER_PRINTLINE</a></div><div class="ttdeci">#define DELTASEGMENTS_PER_PRINTLINE</div><div class="ttdoc">Number of delta moves in each line. Moves that exceed this figure will be split into multiple lines...</div><div class="ttdef"><b>Definition:</b> Configuration.h:1077</div></div>
<div class="ttc" id="class_print_line_html_a07f971b5a1ca570b855c46ccc316b3f1"><div class="ttname"><a href="class_print_line.html#a07f971b5a1ca570b855c46ccc316b3f1">PrintLine::logLine</a></div><div class="ttdeci">void logLine()</div><div class="ttdef"><b>Definition:</b> motion.cpp:1129</div></div>
<div class="ttc" id="class_print_line_html_ad82b849b5cd2d6f811adaf4917d954b2"><div class="ttname"><a href="class_print_line.html#ad82b849b5cd2d6f811adaf4917d954b2">PrintLine::startXStep</a></div><div class="ttdeci">INLINE void startXStep()</div><div class="ttdef"><b>Definition:</b> motion.h:471</div></div>
<div class="ttc" id="class_print_line_html_ac9bab6eb1f2bf3e715fdbbd49b8ff1d4"><div class="ttname"><a href="class_print_line.html#ac9bab6eb1f2bf3e715fdbbd49b8ff1d4">PrintLine::isXYZMove</a></div><div class="ttdeci">bool isXYZMove()</div><div class="ttdef"><b>Definition:</b> motion.h:403</div></div>
<div class="ttc" id="class_endstops_html_a1c37e86f9337d576524481b6aba0892d"><div class="ttname"><a href="class_endstops.html#a1c37e86f9337d576524481b6aba0892d">Endstops::zMin</a></div><div class="ttdeci">static INLINE bool zMin()</div><div class="ttdef"><b>Definition:</b> Endstops.h:115</div></div>
<div class="ttc" id="class_print_line_html_af579de2f3da728e3afa8892282644f1e"><div class="ttname"><a href="class_print_line.html#af579de2f3da728e3afa8892282644f1e">PrintLine::isYMove</a></div><div class="ttdeci">bool isYMove()</div><div class="ttdef"><b>Definition:</b> motion.h:382</div></div>
<div class="ttc" id="motion_8h_html_a5f7d3ac3ef6f32915b3893dd59c3ca9b"><div class="ttname"><a href="motion_8h.html#a5f7d3ac3ef6f32915b3893dd59c3ca9b">FLAG_JOIN_STEPPARAMS_COMPUTED</a></div><div class="ttdeci">#define FLAG_JOIN_STEPPARAMS_COMPUTED</div><div class="ttdef"><b>Definition:</b> motion.h:38</div></div>
<div class="ttc" id="class_print_line_html_ab035178282970130dea0ab4102a21fe4"><div class="ttname"><a href="class_print_line.html#ab035178282970130dea0ab4102a21fe4">PrintLine::linesPos</a></div><div class="ttdeci">static ufast8_t linesPos</div><div class="ttdoc">Position for executing line movement. </div><div class="ttdef"><b>Definition:</b> motion.h:144</div></div>
<div class="ttc" id="class_print_line_html_a10dde3cb2f93ea07a845c004854d5a69"><div class="ttname"><a href="class_print_line.html#a10dde3cb2f93ea07a845c004854d5a69">PrintLine::moveAccelerating</a></div><div class="ttdeci">INLINE bool moveAccelerating()</div><div class="ttdef"><b>Definition:</b> motion.h:468</div></div>
<div class="ttc" id="class_printer_html_a4d60d899ca573b9d32579c19d6c9dcf6"><div class="ttname"><a href="class_printer.html#a4d60d899ca573b9d32579c19d6c9dcf6">Printer::startXStep</a></div><div class="ttdeci">static INLINE void startXStep()</div><div class="ttdef"><b>Definition:</b> Printer.h:923</div></div>
<div class="ttc" id="class_print_line_html_a0a49200119b66a593c56e5abd56c393c"><div class="ttname"><a href="class_print_line.html#a0a49200119b66a593c56e5abd56c393c">PrintLine::isEPositiveMove</a></div><div class="ttdeci">bool isEPositiveMove()</div><div class="ttdef"><b>Definition:</b> motion.h:373</div></div>
<div class="ttc" id="class_print_line_html_a38b4837028bb042ea05e76ae324aee24"><div class="ttname"><a href="class_print_line.html#a38b4837028bb042ea05e76ae324aee24">PrintLine::calculateDirectionAndDelta</a></div><div class="ttdeci">static void calculateDirectionAndDelta(int32_t difference[], ufast8_t *dir, int32_t delta[])</div></div>
<div class="ttc" id="class_printer_html_ae5308f8e87c0cacccf765d88269cee57"><div class="ttname"><a href="class_printer.html#ae5308f8e87c0cacccf765d88269cee57">Printer::advanceStepsSet</a></div><div class="ttdeci">static int advanceStepsSet</div><div class="ttdef"><b>Definition:</b> Printer.h:241</div></div>
<div class="ttc" id="class_print_line_html_acdb1e4e1516fddc19312d245777c4918"><div class="ttname"><a href="class_print_line.html#acdb1e4e1516fddc19312d245777c4918">PrintLine::maxJunctionSpeed</a></div><div class="ttdeci">float maxJunctionSpeed</div><div class="ttdoc">Max. junction speed between this and next segment. </div><div class="ttdef"><b>Definition:</b> motion.h:163</div></div>
<div class="ttc" id="class_print_line_html_a8ebec2ac67b4a3b9c48c4a7fde8a2b99"><div class="ttname"><a href="class_print_line.html#a8ebec2ac67b4a3b9c48c4a7fde8a2b99">PrintLine::vEnd</a></div><div class="ttdeci">speed_t vEnd</div><div class="ttdoc">End speed in steps/s. </div><div class="ttdef"><b>Definition:</b> motion.h:181</div></div>
<div class="ttc" id="class_h_a_l_html_a56d49442ce5f9d581523326bcd39dd6c"><div class="ttname"><a href="class_h_a_l.html#a56d49442ce5f9d581523326bcd39dd6c">HAL::forbidInterrupts</a></div><div class="ttdeci">static void forbidInterrupts()</div><div class="ttdef"><b>Definition:</b> HAL.h:576</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a1fe34da69e5b569da09e7f6a7284884a"><div class="ttname"><a href="struct_nonlinear_segment.html#a1fe34da69e5b569da09e7f6a7284884a">NonlinearSegment::isXOrYMove</a></div><div class="ttdeci">bool isXOrYMove()</div><div class="ttdef"><b>Definition:</b> motion.h:104</div></div>
<div class="ttc" id="class_print_line_html_a5166a93f56210ea1f3258694489bc650"><div class="ttname"><a href="class_print_line.html#a5166a93f56210ea1f3258694489bc650">PrintLine::delta</a></div><div class="ttdeci">int32_t delta[E_AXIS_ARRAY]</div><div class="ttdoc">Steps we want to move. </div><div class="ttdef"><b>Definition:</b> motion.h:154</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_aae5aa2690c053c7a92ff45731f111ddf"><div class="ttname"><a href="struct_nonlinear_segment.html#aae5aa2690c053c7a92ff45731f111ddf">NonlinearSegment::dir</a></div><div class="ttdeci">flag8_t dir</div><div class="ttdoc">Direction of delta movement. </div><div class="ttdef"><b>Definition:</b> motion.h:59</div></div>
<div class="ttc" id="class_print_line_html_a2edee1ed4a9af688e2e18bdc69512557"><div class="ttname"><a href="class_print_line.html#a2edee1ed4a9af688e2e18bdc69512557">PrintLine::safeSpeed</a></div><div class="ttdeci">float safeSpeed(fast8_t drivingAxis)</div><div class="ttdef"><b>Definition:</b> motion.cpp:1056</div></div>
<div class="ttc" id="class_print_line_html_a4ceb38e5af48fdd427fd65c3184c1969"><div class="ttname"><a href="class_print_line.html#a4ceb38e5af48fdd427fd65c3184c1969">PrintLine::setMoveOfAxis</a></div><div class="ttdeci">void setMoveOfAxis(uint8_t axis)</div><div class="ttdef"><b>Definition:</b> motion.h:409</div></div>
<div class="ttc" id="class_print_line_html_a9bbe762bcdb08124847f2ca70b307dce"><div class="ttname"><a href="class_print_line.html#a9bbe762bcdb08124847f2ca70b307dce">PrintLine::linesCount</a></div><div class="ttdeci">static volatile ufast8_t linesCount</div><div class="ttdoc">Number of lines cached 0 = nothing to do. </div><div class="ttdef"><b>Definition:</b> motion.h:197</div></div>
<div class="ttc" id="class_print_line_html_ad25be5b07c7006c7e7eb79521effca60"><div class="ttname"><a href="class_print_line.html#ad25be5b07c7006c7e7eb79521effca60">PrintLine::isEMove</a></div><div class="ttdeci">bool isEMove()</div><div class="ttdef"><b>Definition:</b> motion.h:394</div></div>
<div class="ttc" id="motion_8h_html_aafd724d9cac420e263072927b00d9a45"><div class="ttname"><a href="motion_8h.html#aafd724d9cac420e263072927b00d9a45">FLAG_BLOCKED</a></div><div class="ttdeci">#define FLAG_BLOCKED</div><div class="ttdef"><b>Definition:</b> motion.h:35</div></div>
<div class="ttc" id="class_print_line_html_ad8e7d65b49cb2640b3ea9366be3c88ba"><div class="ttname"><a href="class_print_line.html#ad8e7d65b49cb2640b3ea9366be3c88ba">PrintLine::removeCurrentLineForbidInterrupt</a></div><div class="ttdeci">static INLINE void removeCurrentLineForbidInterrupt()</div><div class="ttdef"><b>Definition:</b> motion.h:574</div></div>
<div class="ttc" id="class_print_line_html_a191c60adafbacbbe233f50fc1781a3ae"><div class="ttname"><a href="class_print_line.html#a191c60adafbacbbe233f50fc1781a3ae">PrintLine::isENegativeMove</a></div><div class="ttdeci">bool isENegativeMove()</div><div class="ttdef"><b>Definition:</b> motion.h:376</div></div>
<div class="ttc" id="class_print_line_html_a0d73fed4743987287d882c5101ada041"><div class="ttname"><a href="class_print_line.html#a0d73fed4743987287d882c5101ada041">PrintLine::dir</a></div><div class="ttdeci">ufast8_t dir</div><div class="ttdoc">Direction of movement. 1 = X+, 2 = Y+, 4= Z+, values can be combined. </div><div class="ttdef"><b>Definition:</b> motion.h:152</div></div>
<div class="ttc" id="class_print_line_html_acea25b3e96d4fa0e65ac51c3e4f4219c"><div class="ttname"><a href="class_print_line.html#acea25b3e96d4fa0e65ac51c3e4f4219c">PrintLine::queueCartesianMove</a></div><div class="ttdeci">static void queueCartesianMove(uint8_t check_endstops, uint8_t pathOptimize)</div><div class="ttdef"><b>Definition:</b> motion.cpp:321</div></div>
<div class="ttc" id="class_printer_html_a659c152052fc331945881d1105c6a4bb"><div class="ttname"><a href="class_printer.html#a659c152052fc331945881d1105c6a4bb">Printer::advanceExecuted</a></div><div class="ttdeci">static long advanceExecuted</div><div class="ttdoc">Executed advance steps. </div><div class="ttdef"><b>Definition:</b> Printer.h:243</div></div>
<div class="ttc" id="class_print_line_html_adfeb603d77b99638b4e9c4b28006d4e2"><div class="ttname"><a href="class_print_line.html#adfeb603d77b99638b4e9c4b28006d4e2">PrintLine::hasLines</a></div><div class="ttdeci">static INLINE bool hasLines()</div><div class="ttdef"><b>Definition:</b> motion.h:564</div></div>
<div class="ttc" id="_h_a_l_8h_html_adfaa4526bb47342be47f89a9eb6b3bef"><div class="ttname"><a href="_h_a_l_8h.html#adfaa4526bb47342be47f89a9eb6b3bef">fast8_t</a></div><div class="ttdeci">int8_t fast8_t</div><div class="ttdef"><b>Definition:</b> HAL.h:160</div></div>
<div class="ttc" id="_h_a_l_8h_html_a2eb6f9e0395b47b8d5e3eeae4fe0c116"><div class="ttname"><a href="_h_a_l_8h.html#a2eb6f9e0395b47b8d5e3eeae4fe0c116">INLINE</a></div><div class="ttdeci">#define INLINE</div><div class="ttdef"><b>Definition:</b> HAL.h:37</div></div>
<div class="ttc" id="class_print_line_html_a2c2cf02c4ad6b329b5ba4e2c35c74c62"><div class="ttname"><a href="class_print_line.html#a2c2cf02c4ad6b329b5ba4e2c35c74c62">PrintLine::setWaitTicks</a></div><div class="ttdeci">INLINE void setWaitTicks(long wait)</div><div class="ttdef"><b>Definition:</b> motion.h:560</div></div>
<div class="ttc" id="class_print_line_html_aae4afc0c5e4153f4fcd9f2c3cfb969f6"><div class="ttname"><a href="class_print_line.html#aae4afc0c5e4153f4fcd9f2c3cfb969f6">PrintLine::vMax</a></div><div class="ttdeci">speed_t vMax</div><div class="ttdoc">Maximum reached speed in steps/s. </div><div class="ttdef"><b>Definition:</b> motion.h:179</div></div>
<div class="ttc" id="_repetier_8h_html_a60a4db346f525182cdba845400b5ed8a"><div class="ttname"><a href="_repetier_8h.html#a60a4db346f525182cdba845400b5ed8a">MENU_MODE_PRINTING</a></div><div class="ttdeci">#define MENU_MODE_PRINTING</div><div class="ttdef"><b>Definition:</b> Repetier.h:556</div></div>
<div class="ttc" id="class_print_line_html_a6df1053090484ae917049015769b0ac5"><div class="ttname"><a href="class_print_line.html#a6df1053090484ae917049015769b0ac5">PrintLine::backwardPlanner</a></div><div class="ttdeci">static void backwardPlanner(ufast8_t p, ufast8_t last)</div><div class="ttdef"><b>Definition:</b> motion.cpp:949</div></div>
<div class="ttc" id="class_print_line_html_a91be34e4a56605a731e1aa40c8aef273"><div class="ttname"><a href="class_print_line.html#a91be34e4a56605a731e1aa40c8aef273">PrintLine::flags</a></div><div class="ttdeci">volatile ufast8_t flags</div><div class="ttdef"><b>Definition:</b> motion.h:148</div></div>
<div class="ttc" id="_repetier_8h_html_a1babd87068d59b3ec0ae7836e6a26787"><div class="ttname"><a href="_repetier_8h.html#a1babd87068d59b3ec0ae7836e6a26787">ZSTEP</a></div><div class="ttdeci">#define ZSTEP</div><div class="ttdef"><b>Definition:</b> Repetier.h:191</div></div>
<div class="ttc" id="_h_a_l_8h_html_a19b13c479504642297e7ebbf5da5677b"><div class="ttname"><a href="_h_a_l_8h.html#a19b13c479504642297e7ebbf5da5677b">ticks_t</a></div><div class="ttdeci">uint32_t ticks_t</div><div class="ttdef"><b>Definition:</b> HAL.h:157</div></div>
<div class="ttc" id="class_print_line_html_a18cdc66bbae3734df955ff75385d21d7"><div class="ttname"><a href="class_print_line.html#a18cdc66bbae3734df955ff75385d21d7">PrintLine::moveID</a></div><div class="ttdeci">uint8_t moveID</div><div class="ttdoc">ID used to identify moves which are all part of the same line. </div><div class="ttdef"><b>Definition:</b> motion.h:170</div></div>
<div class="ttc" id="class_print_line_html_acf417e5a1750bb028bbcb2ff80bbdf68"><div class="ttname"><a href="class_print_line.html#acf417e5a1750bb028bbcb2ff80bbdf68">PrintLine::calculateMove</a></div><div class="ttdeci">void calculateMove(float axis_diff[], uint8_t pathOptimize, fast8_t distanceBase)</div><div class="ttdef"><b>Definition:</b> motion.cpp:466</div></div>
<div class="ttc" id="class_print_line_html_aa175ef9614ad804cc8b4c8243b850dd4"><div class="ttname"><a href="class_print_line.html#aa175ef9614ad804cc8b4c8243b850dd4">PrintLine::fixStartAndEndSpeed</a></div><div class="ttdeci">void fixStartAndEndSpeed()</div><div class="ttdef"><b>Definition:</b> motion.h:213</div></div>
<div class="ttc" id="class_print_line_html_a72373b92f9eefb9aff73cf010bd32ea5"><div class="ttname"><a href="class_print_line.html#a72373b92f9eefb9aff73cf010bd32ea5">PrintLine::getWaitTicks</a></div><div class="ttdeci">INLINE long getWaitTicks()</div><div class="ttdef"><b>Definition:</b> motion.h:557</div></div>
<div class="ttc" id="motion_8h_html_afd2aa0f699051519425a93e6d2b3ea86"><div class="ttname"><a href="motion_8h.html#afd2aa0f699051519425a93e6d2b3ea86">FLAG_JOIN_START_FIXED</a></div><div class="ttdeci">#define FLAG_JOIN_START_FIXED</div><div class="ttdef"><b>Definition:</b> motion.h:42</div></div>
<div class="ttc" id="class_print_line_html_a6af63545e197cbb1cfaebe60f69f9855"><div class="ttname"><a href="class_print_line.html#a6af63545e197cbb1cfaebe60f69f9855">PrintLine::queueEMove</a></div><div class="ttdeci">static void queueEMove(int32_t e_diff, uint8_t check_endstops, uint8_t pathOptimize)</div></div>
<div class="ttc" id="motion_8h_html_a214efd6b4f0d3ad28de96d5c9b5ace87"><div class="ttname"><a href="motion_8h.html#a214efd6b4f0d3ad28de96d5c9b5ace87">lastMoveID</a></div><div class="ttdeci">uint8_t lastMoveID</div></div>
<div class="ttc" id="class_print_line_html_a7b44479b0bdf689046d37b7ca6e66a85"><div class="ttname"><a href="class_print_line.html#a7b44479b0bdf689046d37b7ca6e66a85">PrintLine::isYPositiveMove</a></div><div class="ttdeci">bool isYPositiveMove()</div><div class="ttdef"><b>Definition:</b> motion.h:361</div></div>
<div class="ttc" id="_repetier_8h_html_a138a918c19ac5fa582e0c2432d7adbb1"><div class="ttname"><a href="_repetier_8h.html#a138a918c19ac5fa582e0c2432d7adbb1">Z_STEP_DIRPOS</a></div><div class="ttdeci">#define Z_STEP_DIRPOS</div><div class="ttdef"><b>Definition:</b> Repetier.h:200</div></div>
<div class="ttc" id="_repetier_8h_html_a9ba8fac639c065a887654ba6fc789177"><div class="ttname"><a href="_repetier_8h.html#a9ba8fac639c065a887654ba6fc789177">Y_STEP_DIRPOS</a></div><div class="ttdeci">#define Y_STEP_DIRPOS</div><div class="ttdef"><b>Definition:</b> Repetier.h:198</div></div>
<div class="ttc" id="class_print_line_html_a3831d2f78b2bc00f9ac7b91f4f96ffb2"><div class="ttname"><a href="class_print_line.html#a3831d2f78b2bc00f9ac7b91f4f96ffb2">PrintLine::distance</a></div><div class="ttdeci">float distance</div><div class="ttdef"><b>Definition:</b> motion.h:167</div></div>
<div class="ttc" id="_repetier_8h_html_aeeedce2ff89c311eaf570468c8a65143"><div class="ttname"><a href="_repetier_8h.html#aeeedce2ff89c311eaf570468c8a65143">E_AXIS_ARRAY</a></div><div class="ttdeci">#define E_AXIS_ARRAY</div><div class="ttdef"><b>Definition:</b> Repetier.h:127</div></div>
<div class="ttc" id="class_endstops_html_a830ddb96fe3365c3e7b918137bff94f5"><div class="ttname"><a href="class_endstops.html#a830ddb96fe3365c3e7b918137bff94f5">Endstops::update</a></div><div class="ttdeci">static void update()</div><div class="ttdef"><b>Definition:</b> Endstops.cpp:35</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a945f71e2a9749a03a0e842161c004e13"><div class="ttname"><a href="struct_nonlinear_segment.html#a945f71e2a9749a03a0e842161c004e13">NonlinearSegment::isEOnlyMove</a></div><div class="ttdeci">bool isEOnlyMove()</div><div class="ttdef"><b>Definition:</b> motion.h:113</div></div>
<div class="ttc" id="_repetier_8h_html_a988d5a21821a2084b4041195c84a2d58"><div class="ttname"><a href="_repetier_8h.html#a988d5a21821a2084b4041195c84a2d58">ESTEP</a></div><div class="ttdeci">#define ESTEP</div><div class="ttdef"><b>Definition:</b> Repetier.h:192</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_acd5c97f3a36505476098f2a1f865469a"><div class="ttname"><a href="struct_nonlinear_segment.html#acd5c97f3a36505476098f2a1f865469a">NonlinearSegment::setMoveOfAxis</a></div><div class="ttdeci">void setMoveOfAxis(uint8_t axis)</div><div class="ttdef"><b>Definition:</b> motion.h:125</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a7857f31de5f34f22fb3c27ee6754235e"><div class="ttname"><a href="struct_nonlinear_segment.html#a7857f31de5f34f22fb3c27ee6754235e">NonlinearSegment::isENegativeMove</a></div><div class="ttdeci">bool isENegativeMove()</div><div class="ttdef"><b>Definition:</b> motion.h:95</div></div>
<div class="ttc" id="class_printer_html_ae11a2225e5f07d9acc50279e0582beec"><div class="ttname"><a href="class_printer.html#ae11a2225e5f07d9acc50279e0582beec">Printer::timer</a></div><div class="ttdeci">static uint32_t timer</div><div class="ttdoc">used for acceleration/deceleration timing </div><div class="ttdef"><b>Definition:</b> Printer.h:271</div></div>
<div class="ttc" id="class_print_line_html_a61b18d3f2a42ada375fe303a73715941"><div class="ttname"><a href="class_print_line.html#a61b18d3f2a42ada375fe303a73715941">PrintLine::accelerationPrim</a></div><div class="ttdeci">uint32_t accelerationPrim</div><div class="ttdoc">Acceleration along primary axis. </div><div class="ttdef"><b>Definition:</b> motion.h:177</div></div>
<div class="ttc" id="class_print_line_html_a8d5a9977fdb761ce5a6ec923249d3bef"><div class="ttname"><a href="class_print_line.html#a8d5a9977fdb761ce5a6ec923249d3bef">PrintLine::accelSteps</a></div><div class="ttdeci">uint32_t accelSteps</div><div class="ttdoc">How much steps does it take, to reach the plateau. </div><div class="ttdef"><b>Definition:</b> motion.h:175</div></div>
<div class="ttc" id="_repetier_8h_html_a6033d564371859ed81b243b94309a373"><div class="ttname"><a href="_repetier_8h.html#a6033d564371859ed81b243b94309a373">XSTEP</a></div><div class="ttdeci">#define XSTEP</div><div class="ttdef"><b>Definition:</b> Repetier.h:189</div></div>
<div class="ttc" id="class_print_line_html_a8079dae47c2fee7c8412593601fab469"><div class="ttname"><a href="class_print_line.html#a8079dae47c2fee7c8412593601fab469">PrintLine::setYMoveFinished</a></div><div class="ttdeci">void setYMoveFinished()</div><div class="ttdef"><b>Definition:</b> motion.h:338</div></div>
<div class="ttc" id="_repetier_8h_html_a0ff17c6043905745b79bf1d24c2e184d"><div class="ttname"><a href="_repetier_8h.html#a0ff17c6043905745b79bf1d24c2e184d">X_DIRPOS</a></div><div class="ttdeci">#define X_DIRPOS</div><div class="ttdef"><b>Definition:</b> Repetier.h:183</div></div>
<div class="ttc" id="class_print_line_html_ad818d54d3521f3d60ce60a5e0cb64b58"><div class="ttname"><a href="class_print_line.html#ad818d54d3521f3d60ce60a5e0cb64b58">PrintLine::isXPositiveMove</a></div><div class="ttdeci">bool isXPositiveMove()</div><div class="ttdef"><b>Definition:</b> motion.h:355</div></div>
<div class="ttc" id="class_print_line_html_a1e1d4c706329f82f2ad1f6bf2e4bdb94"><div class="ttname"><a href="class_print_line.html#a1e1d4c706329f82f2ad1f6bf2e4bdb94">PrintLine::isNoMove</a></div><div class="ttdeci">bool isNoMove()</div><div class="ttdef"><b>Definition:</b> motion.h:400</div></div>
<div class="ttc" id="_repetier_8h_html_aa4accabb4b3df874bdeeb21c95e3742a"><div class="ttname"><a href="_repetier_8h.html#aa4accabb4b3df874bdeeb21c95e3742a">X_STEP_DIRPOS</a></div><div class="ttdeci">#define X_STEP_DIRPOS</div><div class="ttdef"><b>Definition:</b> Repetier.h:199</div></div>
<div class="ttc" id="class_print_line_html_a6009facfe041055c6880bf0a68fb2151"><div class="ttname"><a href="class_print_line.html#a6009facfe041055c6880bf0a68fb2151">PrintLine::moveDecelerating</a></div><div class="ttdeci">INLINE bool moveDecelerating()</div><div class="ttdef"><b>Definition:</b> motion.h:459</div></div>
<div class="ttc" id="class_print_line_html_ac3583fbf7456a4dd5aada813e7e19478"><div class="ttname"><a href="class_print_line.html#ac3583fbf7456a4dd5aada813e7e19478">PrintLine::checkEndstops</a></div><div class="ttdeci">void checkEndstops()</div><div class="ttdef"><b>Definition:</b> motion.h:255</div></div>
<div class="ttc" id="class_print_line_html_a73d0255498645a9f94aa83d81079b3bc"><div class="ttname"><a href="class_print_line.html#a73d0255498645a9f94aa83d81079b3bc">PrintLine::isEOnlyMove</a></div><div class="ttdeci">bool isEOnlyMove()</div><div class="ttdef"><b>Definition:</b> motion.h:397</div></div>
<div class="ttc" id="class_print_line_html_ac52e0dca6f36a1b0a17f74bd2b4cb4ad"><div class="ttname"><a href="class_print_line.html#ac52e0dca6f36a1b0a17f74bd2b4cb4ad">PrintLine::updateStepsParameter</a></div><div class="ttdeci">void updateStepsParameter()</div><div class="ttdef"><b>Definition:</b> motion.cpp:897</div></div>
<div class="ttc" id="struct_nonlinear_segment_html_a8b8c0ec71b82427ae3244a5a86a7f98d"><div class="ttname"><a href="struct_nonlinear_segment.html#a8b8c0ec71b82427ae3244a5a86a7f98d">NonlinearSegment::setXMoveFinished</a></div><div class="ttdeci">void setXMoveFinished()</div><div class="ttdef"><b>Definition:</b> motion.h:62</div></div>
<div class="ttc" id="class_print_line_html_a348b31e42ddd4e114ea9e65d3e68d491"><div class="ttname"><a href="class_print_line.html#a348b31e42ddd4e114ea9e65d3e68d491">PrintLine::numPrimaryStepPerSegment</a></div><div class="ttdeci">int32_t numPrimaryStepPerSegment</div><div class="ttdoc">Number of primary Bresenham axis steps in each delta segment. </div><div class="ttdef"><b>Definition:</b> motion.h:171</div></div>
<div class="ttc" id="class_printer_html_af1d438cbad82118ce95d1cf64b860009"><div class="ttname"><a href="class_printer.html#af1d438cbad82118ce95d1cf64b860009">Printer::stepsRemainingAtZHit</a></div><div class="ttdeci">static int32_t stepsRemainingAtZHit</div><div class="ttdef"><b>Definition:</b> Printer.h:308</div></div>
<div class="ttc" id="class_print_line_html_a353882a9af80c1735bfd50974a1f027c"><div class="ttname"><a href="class_print_line.html#a353882a9af80c1735bfd50974a1f027c">PrintLine::speedZ</a></div><div class="ttdeci">float speedZ</div><div class="ttdoc">Speed in z direction at fullInterval in mm/s. </div><div class="ttdef"><b>Definition:</b> motion.h:158</div></div>
<div class="ttc" id="class_print_line_html_a62b33871eeb5a88a2e2ffa00a05e3ce9"><div class="ttname"><a href="class_print_line.html#a62b33871eeb5a88a2e2ffa00a05e3ce9">PrintLine::calculateNonlinearSubSegments</a></div><div class="ttdeci">uint16_t calculateNonlinearSubSegments(uint8_t softEndstop)</div></div>
<div class="ttc" id="class_print_line_html_aaa453ddf98e09c7555ca16ad445fce78"><div class="ttname"><a href="class_print_line.html#aaa453ddf98e09c7555ca16ad445fce78">PrintLine::moveRelativeDistanceInStepsReal</a></div><div class="ttdeci">static void moveRelativeDistanceInStepsReal(int32_t x, int32_t y, int32_t z, int32_t e, float feedrate, bool waitEnd, bool pathOptimize=true)</div><div class="ttdef"><b>Definition:</b> motion.cpp:159</div></div>
<div class="ttc" id="class_print_line_html_ac260e47a144971a93763a9023fd927f4"><div class="ttname"><a href="class_print_line.html#ac260e47a144971a93763a9023fd927f4">PrintLine::fullSpeed</a></div><div class="ttdeci">float fullSpeed</div><div class="ttdoc">Desired speed mm/s. </div><div class="ttdef"><b>Definition:</b> motion.h:160</div></div>
<div class="ttc" id="class_print_line_html_a7de6b6a7f22a7fa5347cae1b9cb90d1a"><div class="ttname"><a href="class_print_line.html#a7de6b6a7f22a7fa5347cae1b9cb90d1a">PrintLine::unblock</a></div><div class="ttdeci">void unblock()</div><div class="ttdef"><b>Definition:</b> motion.h:237</div></div>
<div class="ttc" id="class_print_line_html_a1431ba9dc0080b5485f2217dd9a6ed6a"><div class="ttname"><a href="class_print_line.html#a1431ba9dc0080b5485f2217dd9a6ed6a">PrintLine::insertWaitMovesIfNeeded</a></div><div class="ttdeci">static uint8_t insertWaitMovesIfNeeded(uint8_t pathOptimize, uint8_t waitExtraLines)</div><div class="ttdef"><b>Definition:</b> motion.cpp:1090</div></div>
<div class="ttc" id="class_print_line_html_a7e52e0bfba9909ab94d3b22407d08091"><div class="ttname"><a href="class_print_line.html#a7e52e0bfba9909ab94d3b22407d08091">PrintLine::linesWritePos</a></div><div class="ttdeci">static ufast8_t linesWritePos</div><div class="ttdoc">Position where we write the next cached line move. </div><div class="ttdef"><b>Definition:</b> motion.h:146</div></div>
<div class="ttc" id="class_endstops_html_a104a96fa40a95bf71a712608b15d3bf8"><div class="ttname"><a href="class_endstops.html#a104a96fa40a95bf71a712608b15d3bf8">Endstops::anyEndstopHit</a></div><div class="ttdeci">static INLINE bool anyEndstopHit()</div><div class="ttdef"><b>Definition:</b> Endstops.h:68</div></div>
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